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Gui: show graph color based on visual features

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matlabbe
2018-07-09 11:33:39 -04:00
parent b783df397a
commit c8100e1464
7 changed files with 118 additions and 61 deletions
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2
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -65,7 +65,7 @@ public:
const std::map<int, GPS> & gpsValues);
void updateReferentialPosition(const Transform & t);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
void updatePosterior(const std::map<int, float> & posterior, float fixedMax = 0.0f);
void updateLocalPath(const std::vector<int> & localPath);
void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
void setCurrentGoalID(int id, const Transform & pose = Transform());

1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -339,6 +339,7 @@ private:
long _createdCloudsMemoryUsage;
std::set<int> _cachedEmptyClouds;
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, float> _cachedWordsCount;
std::map<int, LaserScan> _createdScans;

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -154,6 +154,7 @@ public:
int getOdomQualityWarnThr() const;
bool isOdomOnlyInliersShown() const;
bool isPosteriorGraphView() const;
bool isWordsCountGraphView() const;
int getOdomRegistrationApproach() const;
bool isOdomDisabled() const;
bool isGroundTruthAligned() const;
@@ -265,6 +266,7 @@ public:
float getDetectionRate() const;
bool isSLAMMode() const;
bool isRGBDMode() const;
int getKpMaxFeatures() const;
//specific
bool isStatisticsPublished() const;