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Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table

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This commit is contained in:
Mathieu Labbe
2015-05-01 07:30:09 -04:00
parent d09e8f237a
commit abb7eb15ac
29 changed files with 622 additions and 275 deletions
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guilib/src/DatabaseViewer.cpp
+41 -27
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@@ -671,44 +671,47 @@ void DatabaseViewer::exportDatabase()
if(!dialog.outputPath().isEmpty())
{
int framesIgnored = dialog.framesIgnored();
double frameRate = dialog.targetFramerate();
int sessionExported = dialog.sessionExported();
QString path = dialog.outputPath();
rtabmap::DataRecorder recorder;
QList<int> ids;
if(sessionExported < 0)
double previousStamp = 0;
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
{
ids = ids_;
}
else
{
for(int i=0; i<ids_.size(); ++i)
Transform odomPose;
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
{
Transform odomPose;
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
if(frameRate == 0 ||
previousStamp == 0 ||
stamp == 0 ||
stamp - previousStamp >= 1.0/frameRate)
{
if(sessionExported == mapId)
if(sessionExported < 0 || sessionExported == mapId)
{
ids.push_back(ids_[i]);
}
else if(mapId > sessionExported)
{
break;
}
previousStamp = stamp;
}
if(sessionExported >= 0 && mapId > sessionExported)
{
break;
}
}
}
if(recorder.init(path, false))
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids.size() / (1+framesIgnored) + 1);
progressDialog.setMaximumSteps(ids.size());
progressDialog.show();
for(int i=0; i<ids.size(); i+=1+framesIgnored)
for(int i=0; i<ids.size(); ++i)
{
int id = ids.at(i);
@@ -1465,6 +1468,11 @@ void DatabaseViewer::update(int value,
1);
}
view3D->addOrUpdateCloud("0", cloud, data.getLocalTransform());
//add scan
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.getLaserScanRaw());
view3D->addOrUpdateCloud("1", scan);
view3D->update();
}
}
@@ -1842,13 +1850,16 @@ void DatabaseViewer::sliderLoopValueChanged(int value)
void DatabaseViewer::updateConstraintView()
{
Link link = this->findActiveLink(ui_->horizontalSlider_A->value(), ui_->horizontalSlider_B->value());
if(link.type() == Link::kNeighbor)
if(link.isValid())
{
this->updateConstraintView(neighborLinks_.at(ui_->horizontalSlider_neighbors->value()), false);
}
else
{
this->updateConstraintView(loopLinks_.at(ui_->horizontalSlider_loops->value()), false);
if(link.type() == Link::kNeighbor)
{
this->updateConstraintView(neighborLinks_.at(ui_->horizontalSlider_neighbors->value()), false);
}
else
{
this->updateConstraintView(loopLinks_.at(ui_->horizontalSlider_loops->value()), false);
}
}
}
@@ -2042,7 +2053,10 @@ void DatabaseViewer::updateConstraintView(
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZ>(cloudTo);
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloudTo, t);
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloudTo, t);
}
}
if(cloudFrom->size())