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Added GPS class for convenience, database viewer can view GPS values and export to KML format

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This commit is contained in:
matlabbe
2017-09-26 14:13:06 -04:00
parent 8759fda632
commit 9691a4f361
35 changed files with 1150 additions and 381 deletions
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7
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <set>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
@@ -94,6 +95,9 @@ private slots:
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();
void exportPosesKML();
void exportGPS_TXT();
void exportGPS_KML();
void generateLocalGraph();
void regenerateLocalMaps();
void regenerateCurrentLocalMaps();
@@ -162,6 +166,7 @@ private:
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent);
void exportPoses(int format);
void exportGPS(int format);
private:
Ui_DatabaseViewer * ui_;
@@ -181,6 +186,8 @@ private:
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> poses_;
std::map<int, rtabmap::Transform> groundTruthPoses_;
std::map<int, rtabmap::Transform> gpsPoses_;
std::map<int, GPS> gpsValues_;
std::multimap<int, rtabmap::Link> links_;
std::multimap<int, rtabmap::Link> linksRefined_;
std::multimap<int, rtabmap::Link> linksAdded_;

16
guilib/include/rtabmap/gui/GraphViewer.h
View File

@@ -34,8 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QMap>
#include <QtCore/QSettings>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/GeodeticCoords.h>
#include <opencv2/opencv.hpp>
#include <map>
#include <vector>
class QGraphicsItem;
class QGraphicsPixmapItem;
@@ -58,6 +60,9 @@ public:
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds);
void updateGTGraph(const std::map<int, Transform> & poses);
void updateGPSGraph(
const std::map<int, Transform> & gpsMapPoses,
const std::map<int, GPS> & gpsValues);
void updateReferentialPosition(const Transform & t);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
@@ -89,6 +94,7 @@ public:
const QColor & getLocalPathColor() const {return _localPathColor;}
const QColor & getGlobalPathColor() const {return _globalPathColor;}
const QColor & getGTColor() const {return _gtPathColor;}
const QColor & getGPSColor() const {return _gpsPathColor;}
const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
const QColor & getInterSessionLoopColor() const {return _loopInterSessionColor;}
bool isIntraInterSessionColorsEnabled() const {return _intraInterSessionColors;}
@@ -102,6 +108,8 @@ public:
bool isGlobalPathVisible() const;
bool isLocalPathVisible() const;
bool isGtGraphVisible() const;
bool isGPSGraphVisible() const;
bool isOrientationENU() const;
// setters
void setWorkingDirectory(const QString & path);
@@ -119,6 +127,7 @@ public:
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
void setGTColor(const QColor & color);
void setGPSColor(const QColor & color);
void setIntraSessionLoopColor(const QColor & color);
void setInterSessionLoopColor(const QColor & color);
void setIntraInterSessionColorsEnabled(bool enabled);
@@ -132,6 +141,8 @@ public:
void setGlobalPathVisible(bool visible);
void setLocalPathVisible(bool visible);
void setGtGraphVisible(bool visible);
void setGPSGraphVisible(bool visible);
void setOrientationENU(bool enabled);
signals:
void configChanged();
@@ -158,6 +169,7 @@ private:
QColor _localPathColor;
QColor _globalPathColor;
QColor _gtPathColor;
QColor _gpsPathColor;
QColor _loopIntraSessionColor;
QColor _loopInterSessionColor;
bool _intraInterSessionColors;
@@ -166,10 +178,13 @@ private:
QGraphicsItem * _globalPathRoot;
QGraphicsItem * _localPathRoot;
QGraphicsItem * _gtGraphRoot;
QGraphicsItem * _gpsGraphRoot;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _linkItems;
QMap<int, NodeItem*> _gtNodeItems;
QMap<int, NodeItem*> _gpsNodeItems;
QMultiMap<int, LinkItem*> _gtLinkItems;
QMultiMap<int, LinkItem*> _gpsLinkItems;
QMultiMap<int, LinkItem*> _localPathLinkItems;
QMultiMap<int, LinkItem*> _globalPathLinkItems;
float _nodeRadius;
@@ -181,6 +196,7 @@ private:
QGraphicsEllipseItem * _localRadius;
float _loopClosureOutlierThr;
float _maxLinkLength;
bool _orientationENU;
};
} /* namespace rtabmap */