-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.

-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -20,6 +20,8 @@
 #include <QtCore/QSet>
 #include <QtCore/qnamespace.h>
 
+#include <opencv2/opencv.hpp>
+
 #include <pcl/visualization/mouse_event.h>
 #include <pcl/PCLPointCloud2.h>
 
@@ -92,6 +94,14 @@ public:
 		const pcl::PolygonMesh::Ptr & mesh,
 		const Transform & pose = Transform::getIdentity());
 
+	bool addOccupancyGridMap(
+			const cv::Mat & map8U,
+			float resolution, // cell size
+			float xMin,
+			float yMin,
+			float opacity);
+	void removeOccupancyGridMap();
+
 	void updateCameraPosition(
 		const Transform & pose);
 
@@ -111,6 +121,7 @@ public:
 	void setCameraFree();
 	void setCameraLockZ(bool enabled = true);
 	void setGridShown(bool shown);
+	void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
 
 public slots:
 	void render();
@@ -150,6 +161,7 @@ private:
     Transform _lastPose;
     std::list<std::string> _gridLines;
     QSet<Qt::Key> _keysPressed;
+    QString _workingDirectory;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -30,6 +30,8 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
 #include <set>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
 
 #include <rtabmap/core/Link.h>
 
@@ -92,7 +94,7 @@ private:
 	std::list<std::map<int, rtabmap::Transform> > graphes_;
 	std::map<int, rtabmap::Transform> poses_;
 	std::multimap<int, rtabmap::Link> links_;
-	QMap<int, std::vector<unsigned char> > scans_;
+	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
 };
 
 #endif /* DATABASEVIEWER_H_ */

guilib/include/rtabmap/gui/MainWindow.h

@@ -176,7 +176,7 @@ signals:
 
 private:
 	void update3DMapVisibility(bool cloudsShown, bool scansShown);
-	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose);
+	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints);
 	void createAndAddCloudToMap(int nodeId, const Transform & pose);
 	void createAndAddScanToMap(int nodeId, const Transform & pose);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -248,6 +248,7 @@ private:
 	QMap<int, Transform> _localTransformsMap;
 	std::map<int, Transform> _currentPosesMap;
 	QMap<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
+	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
 	Transform _odometryCorrection;
 	Transform _lastOdomPose;
 	bool _lastOdometryProcessed;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -134,6 +134,11 @@ public:
 	double getCloudFilteringRadius() const;
 	double getCloudFilteringAngle() const;
 
+	bool getGridMapShown() const;
+	double getGridMapResolution() const;
+	bool getGridMapFillEmptySpace() const;
+	double getGridMapOpacity() const;
+
 	QString getWorkingDirectory() const;
 	QString getDatabasePath() const;
 

guilib/include/rtabmap/gui/UCv2Qt.h

@@ -65,6 +65,9 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true)
 		{
 			// mono grayscale
 			qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
+			QVector<QRgb> my_table;
+			for(int i = 0; i < 256; i++) my_table.push_back(qRgb(i,i,i));
+			qtemp.setColorTable(my_table);
 		}
 		else
 		{