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0.11.2: First Google Tango release

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This commit is contained in:
matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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60
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -73,54 +73,6 @@ public:
const std::string & id,
const Transform & pose); //including mesh
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PCLPointCloud2Ptr & binaryCloud,
@@ -165,6 +117,12 @@ public:
const std::vector<pcl::Vertices> & polygons,
const Transform & pose = Transform::getIdentity());
bool addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose = Transform::getIdentity());
bool addCloudMesh(
const std::string & id,
const pcl::PolygonMesh::Ptr & mesh,
@@ -226,6 +184,9 @@ public:
const QColor & getDefaultBackgroundColor() const;
const QColor & getBackgroundColor() const;
Transform getTargetPose() const;
void setBackfaceCulling(bool enabled, bool frontfaceCulling);
void getCameraPosition(
float & x, float & y, float & z,
float & focalX, float & focalY, float & focalZ,
@@ -249,6 +210,7 @@ public:
void setGridShown(bool shown);
void setGridCellCount(unsigned int count);
void setGridCellSize(float size);
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
public slots:
@@ -307,6 +269,8 @@ private:
QString _workingDirectory;
QColor _defaultBgColor;
QColor _currentBgColor;
bool _backfaceCulling;
bool _frontfaceCulling;
};
} /* namespace rtabmap */

1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -97,6 +97,7 @@ private slots:
void sliderBValueChanged(int);
void sliderAMoved(int);
void sliderBMoved(int);
void update3dView();
void sliderNeighborValueChanged(int);
void sliderLoopValueChanged(int);
void sliderIterationsValueChanged(int);

1
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -168,6 +168,7 @@ private:
QGraphicsEllipseItem * _localRadius;
float _loopClosureOutlierThr;
float _maxLinkLength;
int _coordinateSystem;
};
} /* namespace rtabmap */

22
guilib/include/rtabmap/gui/MainWindow.h
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@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
namespace rtabmap {
@@ -243,24 +244,7 @@ private:
void exportPoses(int format);
QString captureScreen(bool cacheInRAM = false);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth,
float filteringRadius,
float filteringMinNeighbors) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const std::map<int, pcl::TextureMesh::Ptr> & meshes);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
private:
@@ -299,7 +283,9 @@ private:
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
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>

19
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -145,9 +145,7 @@ public:
bool isGraphsShown() const;
bool isLabelsShown() const;
bool isCloudMeshing() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
double getCloudVoxelSize(int index) const; // 0=map, 1=odom
int getCloudDecimation(int index) const; // 0=map, 1=odom
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
@@ -159,17 +157,13 @@ public:
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
int getMeshNormalKSearch() const;
double getMeshGP3Radius() const;
double getMeshGP3Mu() const;
bool getMeshSmoothing() const;
double getMeshSmoothingRadius() const;
bool isCloudFiltering() const;
bool isSubtractFiltering() const;
double getCloudFilteringRadius() const;
double getCloudFilteringAngle() const;
int getSubstractFilteringMinPts() const;
int getSubtractFilteringMinPts() const;
double getSubtractFilteringRadius() const;
double getSubtractFilteringAngle() const;
bool getGridMapShown() const;
double getGridMapResolution() const;
@@ -177,6 +171,11 @@ public:
bool isGridMapEroded() const;
double getGridMapOpacity() const;
bool isCloudMeshing() const;
double getCloudMeshingAngle() const;
bool isCloudMeshingQuad() const;
int getCloudMeshingTriangleSize();
QString getWorkingDirectory() const;
// source panel
@@ -257,6 +256,7 @@ private slots:
void addParameter(const QString & value);
void updatePredictionPlot();
void updateKpROI();
void updateG2oVisibility();
void changeWorkingDirectory();
void changeDictionaryPath();
void changeOdomBowFixedLocalMapPath();
@@ -334,7 +334,6 @@ private:
CreateSimpleCalibrationDialog * _createCalibrationDialog;
QVector<QCheckBox*> _3dRenderingShowClouds;
QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
QVector<QSpinBox*> _3dRenderingDecimation;
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;