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0.11.2: First Google Tango release

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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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80
guilib/src/ExportCloudsDialog.h
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@@ -29,12 +29,22 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define EXPORTCLOUDSDIALOG_H_
#include <QDialog>
#include <QMap>
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include <pcl/pcl_base.h>
class Ui_ExportCloudsDialog;
class QAbstractButton;
namespace rtabmap {
class ProgressDialog;
class ExportCloudsDialog : public QDialog
{
@@ -48,41 +58,19 @@ public:
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void setSaveButton();
void setOkButton();
void enableRegeneration(bool enabled);
void exportClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
//getters
bool getBinaryFile() const;
int getNormalKSearch() const;
bool getGenerate() const;
int getGenerateDecimation() const;
double getGenerateVoxel() const;
double getGenerateMaxDepth() const;
bool getFiltering() const;
double getFilteringRadius() const;
int getFilteringMinNeighbors() const;
bool getAssemble() const;
double getAssembleVoxel() const;
bool getMLS() const;
double getMLSRadius() const;
int getMLSPolygonialOrder() const;
int getMLSUpsamplingMethod() const;
double getMLSUpsamplingRadius() const;
double getMLSUpsamplingStep() const;
int getMLSPointDensity() const;
double getMLSDilationVoxelSize() const;
int getMLSDilationIterations() const;
bool getMesh() const;
double getMeshGp3Radius() const;
double getMeshGp3Mu() const;
double getMeshDecimationFactor() const;
bool getMeshTexture() const;
void viewClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
signals:
void configChanged();
@@ -91,10 +79,34 @@ public slots:
void restoreDefaults();
private slots:
void updateReconstructionFlavor();
void updateMLSGrpVisibility();
private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds) const;
bool getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes);
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, const std::map<int, pcl::TextureMesh::Ptr> & meshes);
void setSaveButton();
void setOkButton();
void enableRegeneration(bool enabled);
private:
Ui_ExportCloudsDialog * _ui;
ProgressDialog * _progressDialog;
};
}