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OctoMap::createCloud() added cloud probability output option.

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CameraRealSense2: added new warnings to debug easier timestamps problems.
GUI: added gravity visualization.
DbViewer: empty clouds in OctoMap mode have color depending on probability of occupancy.
Brought general changes from local xvision branch.
This commit is contained in:
matlabbe
2020-01-22 10:34:21 -05:00
parent f9e818c900
commit ccc5a5be5a
14 changed files with 367 additions and 65 deletions
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3
guilib/include/rtabmap/gui/CameraViewer.h
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
class QSpinBox;
class QCheckBox;
class QPushButton;
class QLabel;
namespace rtabmap {
@@ -63,9 +64,9 @@ private:
CloudViewer* cloudView_;
bool processingImages_;
QSpinBox * decimationSpin_;
int validDecimationValue_;
ParametersMap parameters_;
QPushButton * pause_;
QLabel * imageSizeLabel_;
QCheckBox * showCloudCheckbox_;
QCheckBox * showScanCheckbox_;
};

5
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -167,6 +167,9 @@ public:
bool isLabelsShown() const;
bool isLandmarksShown() const;
double landmarkVisSize() const;
bool isIMUGravityShown(int index) const;
double getIMUGravityLength(int index) const;
bool isIMUAccShown() const;
bool isMarkerDetection() const;
double getMarkerLength() const;
double getVoxel() const;
@@ -430,6 +433,8 @@ private:
QVector<QCheckBox*> _3dRenderingShowFeatures;
QVector<QCheckBox*> _3dRenderingShowFrustums;
QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
QVector<QCheckBox*> _3dRenderingGravity;
QVector<QDoubleSpinBox*> _3dRenderingGravityLength;
};
Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)