i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture

Browse Source
This commit is contained in:
matlabbe
2017-02-28 21:50:50 -05:00
parent b76952f016
commit c9f6dabfc6
20 changed files with 776 additions and 268 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/Statistics.h"
#include "rtabmap/core/Link.h"
#include "rtabmap/core/ProgressState.h"
#include <opencv2/core/core.hpp>
#include <list>
@@ -141,7 +142,7 @@ public:
bool optimized,
bool global,
std::map<int, Signature> * signatures = 0);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1, const ProgressState * state = 0);
int refineLinks();
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success

18
corelib/src/Rtabmap.cpp
View File

@@ -3404,7 +3404,7 @@ void Rtabmap::getGraph(
}
}
int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int iterations)
int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int iterations, const ProgressState * processState)
{
UASSERT(iterations>0);
@@ -3492,7 +3492,21 @@ int Rtabmap::detectMoreLoopClosures(float clusterRadius, float clusterAngle, int
}
}
}
UINFO("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
if(processState)
{
std::string msg = uFormat("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
UINFO(msg.c_str());
if(!processState->callback(msg))
{
return -1;
}
}
else
{
UINFO("Iteration %d/%d: Detected %d loop closures!", n+1, iterations, (int)addedLinks.size()/2);
}
if(addedLinks.size() == 0)
{
break;

2
corelib/src/pcl18/surface/impl/texture_mapping.hpp
View File

@@ -1256,7 +1256,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
}
for(unsigned int idx_face=0; idx_face<faces.size(); ++idx_face)
{
if((idx_face+1)%1000 == 0)
if((idx_face+1)%10000 == 0)
{
UDEBUG("face %d/%d", idx_face+1, (int)faces.size());
if(state && !state->callback(""))