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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

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This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
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8
guilib/include/rtabmap/gui/ExportCloudsDialog.h
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@@ -71,7 +71,7 @@ public:
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const std::map<int, LaserScan> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters);
@@ -81,7 +81,7 @@ public:
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const std::map<int, LaserScan> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters);
@@ -104,7 +104,7 @@ private:
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const std::map<int, LaserScan> & cachedScans,
const ParametersMap & parameters,
bool & has2dScans) const;
bool getExportedClouds(
@@ -113,7 +113,7 @@ private:
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const std::map<int, LaserScan> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,

4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -276,7 +276,7 @@ protected:
const std::map<int, int> & currentMapIds() const { return _currentMapIds; } // <nodeId, mapId>
const std::map<int, std::string> & currentLabels() const { return _currentLabels; } // <nodeId, label>
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds() const { return _cachedClouds; }
const std::map<int, cv::Mat> & createdScans() const { return _createdScans; }
const std::map<int, LaserScan> & createdScans() const { return _createdScans; }
const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & createdFeatures() const { return _createdFeatures; }
const rtabmap::OccupancyGrid * occupancyGrid() const { return _occupancyGrid; }
@@ -337,7 +337,7 @@ private:
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, cv::Mat> _createdScans;
std::map<int, LaserScan> _createdScans;
rtabmap::OccupancyGrid * _occupancyGrid;
rtabmap::OctoMap * _octomap;