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3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

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matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -234,6 +234,7 @@ private:
bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
@@ -289,6 +290,9 @@ private:
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> _createdFeatures;
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _processingOdometry;

5
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -157,6 +157,9 @@ public:
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
bool isFeaturesShown(int index) const; // 0=map, 1=odom
int getFeaturesPointSize(int index) const; // 0=map, 1=odom
bool isCloudFiltering() const;
bool isSubtractFiltering() const;
double getCloudFilteringRadius() const;
@@ -344,6 +347,8 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;
QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
};
Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)