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Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

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This commit is contained in:
matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
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6
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -129,6 +129,12 @@ public:
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,

3
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -84,7 +84,9 @@ private slots:
void generateTOROGraph();
void generateG2OGraph();
void view3DMap();
void view3DLaserScans();
void generate3DMap();
void generate3DLaserScans();
void detectMoreLoopClosures();
void refineAllNeighborLinks();
void refineAllLoopClosureLinks();
@@ -106,6 +108,7 @@ private slots:
void resetConstraint();
void rejectConstraint();
void updateConstraintView();
void updateLoggerLevel();
void updateStereo();
private:

11
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -151,6 +151,8 @@ public:
int getCloudPointSize(int index) const; // 0=map, 1=odom
bool isScansShown(int index) const; // 0=map, 1=odom
int getDownsamplingStepScan(int index) const; // 0=map, 1=odom
double getCloudVoxelSizeScan(int index) const; // 0=map, 1=odom
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
@@ -177,7 +179,6 @@ public:
// source panel
double getGeneralInputRate() const;
bool isSourceMirroring() const;
QString getCalibrationName() const;
PreferencesDialog::Src getSourceType() const;
PreferencesDialog::Src getSourceDriver() const;
QString getSourceDriverStr() const;
@@ -192,6 +193,7 @@ public:
bool isSourceRGBDColorOnly() const;
bool isSourceStereoDepthGenerated() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getStereoLaserLocalTransform() const; // stereo images
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -209,7 +211,7 @@ public:
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
bool getLccBowVarianceFromInliersCount() const;
bool getRegVarianceFromInliersCount() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
//
@@ -254,12 +256,14 @@ private slots:
void updateBasicParameter();
void openDatabaseViewer();
void selectSourceDatabase();
void selectCalibrationPath();
void selectSourceRGBDImagesStamps();
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
void selectSourceStereoImagesStamps();
void selectSourceStereoImagesPathLeft();
void selectSourceStereoImagesPathRight();
void selectSourceStereoImagesPathScans();
void selectSourceImagesPath();
void selectSourceVideoPath();
void selectSourceStereoVideoPath();
@@ -307,7 +311,6 @@ private:
void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin();
void testOdometry(int type);
protected:
rtabmap::ParametersMap _parameters;
@@ -331,6 +334,8 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;
QVector<QCheckBox*> _3dRenderingShowScans;
QVector<QSpinBox*> _3dRenderingDownsamplingScan;
QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
};