DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.

guilib/include/rtabmap/gui/CloudViewer.h

@@ -222,6 +222,19 @@ public:
 	void removeAllSpheres();
 	const std::set<std::string> & getAddedSpheres() const {return _spheres;}
 
+	void addOrUpdateCube(
+				const std::string & id,
+				const Transform & pose, // center of the cube
+				float width,  // e.g., along x axis
+				float height, // e.g., along y axis
+				float depth,  // e.g., along z axis
+				const QColor & color,
+				bool wireframe = false,
+				bool foreground = false);
+	void removeCube(const std::string & id);
+	void removeAllCubes();
+	const std::set<std::string> & getAddedCubes() const {return _cubes;}
+
 	void addOrUpdateFrustum(
 			const std::string & id,
 			const Transform & transform,
@@ -314,7 +327,7 @@ public:
 	float getNormalsScale() const;
 	void setNormalsStep(int step);
 	void setNormalsScale(float scale);
-	void buildLocator(bool enable);
+	void buildPickingLocator(bool enable);
 	const std::map<std::string, vtkSmartPointer<vtkOBBTree> > & getLocators() const {return _locators;}
 
 public slots:
@@ -376,6 +389,7 @@ private:
     std::set<std::string> _texts;
     std::set<std::string> _lines;
     std::set<std::string> _spheres;
+    std::set<std::string> _cubes;
     QMap<std::string, Transform> _frustums;
     pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
     unsigned int _maxTrajectorySize;

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -95,6 +95,9 @@ private slots:
 	void generateGraph();
 	void exportSaved2DMap();
 	void import2DMap();
+	void viewOptimizedMesh();
+	void exportOptimizedMesh();
+	void updateOptimizedMesh();
 	void exportDatabase();
 	void extractImages();
 	void exportPosesRaw();

guilib/include/rtabmap/gui/ExportCloudsDialog.h

@@ -64,6 +64,10 @@ public:
 	void loadSettings(QSettings & settings, const QString & group = "");
 
 	void setDBDriver(const DBDriver * dbDriver) {_dbDriver = dbDriver;}
+	void forceAssembling(bool enabled);
+	void setProgressDialogToMax();
+	void setSaveButton();
+	void setOkButton();
 
 	void exportClouds(
 			const std::map<int, Transform> & poses,
@@ -85,6 +89,31 @@ public:
 			const QString & workingDirectory,
 			const ParametersMap & parameters);
 
+	bool getExportedClouds(
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & links,
+			const std::map<int, int> & mapIds,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
+			const std::map<int, LaserScan> & cachedScans,
+			const QString & workingDirectory,
+			const ParametersMap & parameters,
+			std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
+			std::map<int, pcl::PolygonMesh::Ptr> & meshes,
+			std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
+			std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
+
+	int getTextureSize() const;
+	int getMaxTextures() const;
+	bool isGainCompensation() const;
+	double getGainBeta() const;
+	bool isGainRGB() const;
+	bool isBlending() const;
+	int getBlendingDecimation() const;
+	int getTextureBrightnessConstrastRatioLow() const;
+	int getTextureBrightnessConstrastRatioHigh() const;
+	bool isExposeFusion() const;
+
 	static bool removeDirRecursively(const QString & dirName);
 
 signals:
@@ -109,26 +138,10 @@ private:
 			const std::map<int, LaserScan> & cachedScans,
 			const ParametersMap & parameters,
 			bool & has2dScans) const;
-	bool getExportedClouds(
-				const std::map<int, Transform> & poses,
-				const std::multimap<int, Link> & links,
-				const std::map<int, int> & mapIds,
-				const QMap<int, Signature> & cachedSignatures,
-				const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
-				const std::map<int, LaserScan> & cachedScans,
-				const QString & workingDirectory,
-				const ParametersMap & parameters,
-				std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
-				std::map<int, pcl::PolygonMesh::Ptr> & meshes,
-				std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
-				std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
 	void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
 	void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
 	void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
 
-	void setSaveButton();
-	void setOkButton();
-
 private:
 	Ui_ExportCloudsDialog * _ui;
 	ProgressDialog * _progressDialog;