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Moved some util3d methods to Transform.h, Graph.h and Compression.h

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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
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corelib/src/Memory.cpp
+9 -8
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@@ -43,6 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "DBDriverSqlite3.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Statistics.h"
#include "rtabmap/core/Compression.h"
#include <pcl/io/pcd_io.h>
#include <pcl/common/common.h>
@@ -1658,7 +1659,7 @@ Transform Memory::computeVisualTransform(
UDEBUG("Forcing 2D...");
float x,y,z,r,p,yaw;
transform.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
transform = util3d::transformFromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
transform = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
}
}
else if(inliersCount < _bowMinInliers)
@@ -1923,7 +1924,7 @@ Transform Memory::computeIcpTransform(
// We are 2D here, make sure the guess has only YAW rotation
float x,y,z,r,p,yaw;
guess.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
guess = util3d::transformFromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
guess = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
if(r!=0 || p!=0)
{
UINFO("2D ICP: Dropping z (%f), roll (%f) and pitch (%f) rotation!", z, r, p);
@@ -2040,7 +2041,7 @@ Transform Memory::computeScanMatchingTransform(
const Signature * s = this->getSignature(iter->first);
if(!s->getLaserScanCompressed().empty())
{
*assembledOldClouds += *util3d::cvMat2Cloud(util3d::uncompressData(s->getLaserScanCompressed()), iter->second);
*assembledOldClouds += *util3d::cvMat2Cloud(rtabmap::uncompressData(s->getLaserScanCompressed()), iter->second);
}
else
{
@@ -2059,7 +2060,7 @@ Transform Memory::computeScanMatchingTransform(
const Signature * newS = getSignature(newId);
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloud;
UASSERT(uContains(poses, newId));
newCloud = util3d::cvMat2Cloud(util3d::uncompressData(newS->getLaserScanCompressed()), poses.at(newId));
newCloud = util3d::cvMat2Cloud(rtabmap::uncompressData(newS->getLaserScanCompressed()), poses.at(newId));
//voxelize
if(newCloud->size() && _icp2VoxelSize > 0.0f)
@@ -3302,9 +3303,9 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
{
depthOrRightImage = data.rightImage();
}
util3d::CompressionThread ctImage(data.image(), std::string(".jpg"));
util3d::CompressionThread ctDepth(depthOrRightImage, std::string(".png"));
util3d::CompressionThread ctDepth2d(data.laserScan());
rtabmap::CompressionThread ctImage(data.image(), std::string(".jpg"));
rtabmap::CompressionThread ctDepth(depthOrRightImage, std::string(".png"));
rtabmap::CompressionThread ctDepth2d(data.laserScan());
ctImage.start();
ctDepth.start();
ctDepth2d.start();
@@ -3333,7 +3334,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
words,
words3D,
data.pose(),
util3d::compressData2(data.laserScan()));
rtabmap::compressData2(data.laserScan()));
}
if(this->isRawDataKept())
{