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Updated pull request (supporting internal/external build)

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This commit is contained in:
matlabbe
2016-03-23 19:07:44 -04:00
parent cee3a77a4c
commit d74cb1b232
8 changed files with 471 additions and 58 deletions
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CMakeLists.txt
+1 -1
View File
@@ -365,7 +365,7 @@ file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "$
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include"
"${PROJECT_SOURCE_DIR}/guilib/include"
"${PROJECT_SOURCE_DIR}/utilite/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
IF(QT4_FOUND OR Qt5_FOUND)
set(CONF_WITH_GUI ON)
ELSE()
RTABMapConfig.cmake.in
+12 -16
View File
@@ -11,41 +11,41 @@ get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
#core lib
find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
SET(RTABMap_CORE
debug ${RTABMap_CORE_DEBUG}
optimized ${RTABMap_CORE_RELEASE}
)
ELSEIF(RTABMap_CORE_RELEASE)
SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
ELSEIF(RTABMap_CORE_DEBUG)
SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
ELSE()
SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
ENDIF()
#utilite lib
find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
SET(RTABMap_UTILITE
debug ${RTABMap_UTILITE_DEBUG}
optimized ${RTABMap_UTILITE_RELEASE}
)
ELSEIF(RTABMap_UTILITE_RELEASE)
SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
ELSEIF(RTABMap_UTILITE_DEBUG)
SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
ELSE()
SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
ENDIF()
set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
#gui lib (OFF if RTAB-Map is not built with Qt)
if(@CONF_WITH_GUI@)
find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
SET(RTABMap_GUI
@@ -62,12 +62,8 @@ if(@CONF_WITH_GUI@)
endif(@CONF_WITH_GUI@)
#backward compatibilities
if(RTABMap_CORE)
set(RTABMAP_CORE ${RTABMap_CORE})
endif(RTABMap_CORE)
if(RTABMap_UTILITE)
set(RTABMAP_UTILITE ${RTABMap_UTILITE})
endif(RTABMap_UTILITE)
set(RTABMAP_CORE ${RTABMap_CORE})
set(RTABMAP_UTILITE ${RTABMap_UTILITE})
if(RTABMap_GUI)
set(RTABMAP_GUI ${RTABMap_GUI})
endif(RTABMap_GUI)
examples/BOWMapping/CMakeLists.txt
+32 -5
View File
@@ -1,11 +1,36 @@
cmake_minimum_required(VERSION 2.8)
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
if(internal)
# inside rtabmap project (see below for external build)
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_utilite
)
else()
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
endif()
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/utilite/include
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${RTABMap_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
@@ -13,7 +38,9 @@ SET(LIBRARIES
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(bow_mapping main.cpp)
TARGET_LINK_LIBRARIES(bow_mapping rtabmap_core rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(bow_mapping ${LIBRARIES})
SET_TARGET_PROPERTIES( bow_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-bow_mapping)
if(internal)
SET_TARGET_PROPERTIES( bow_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-bow_mapping)
endif(internal)
examples/NoEventsExample/CMakeLists.txt
+41 -15
View File
@@ -1,19 +1,40 @@
cmake_minimum_required(VERSION 2.8)
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
# Use Qt4 or Qt5
SET(MY_QT_VERSION 4 CACHE STRING "Which Qt version to use")
IF("${MY_QT_VERSION}" STREQUAL "4")
message("4")
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
ELSE()
message("5")
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
ENDIF()
if(internal)
# inside rtabmap project (see below for external build)
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/guilib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_gui
rtabmap_utilite
)
SET(MY_QT_VERSION ${RTABMAP_QT_VERSION})
else()
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
# Use Qt4 or Qt5
SET(MY_QT_VERSION 4 CACHE STRING "Which Qt version to use")
IF("${MY_QT_VERSION}" STREQUAL "4")
message("4")
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
ELSE()
message("5")
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
ENDIF()
endif()
SET(INCLUDE_DIRS
${RTABMap_INCLUDE_DIRS}
@@ -44,6 +65,11 @@ ADD_EXECUTABLE(noEventsExample main.cpp ${moc_srcs})
TARGET_LINK_LIBRARIES(noEventsExample ${LIBRARIES})
SET_TARGET_PROPERTIES( noEventsExample
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-noEventsExample)
if(internal)
SET_TARGET_PROPERTIES( noEventsExample
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-noEventsExample)
endif(internal)
examples/RGBDMapping/CMakeLists.txt
+46 -8
View File
@@ -1,17 +1,53 @@
cmake_minimum_required(VERSION 2.8)
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
if(internal)
# inside rtabmap project (see below for external build)
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/guilib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_gui
rtabmap_utilite
)
SET(MY_QT_VERSION ${RTABMAP_QT_VERSION})
else()
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
# Use Qt4 or Qt5
SET(MY_QT_VERSION 4 CACHE STRING "Which Qt version to use")
IF("${MY_QT_VERSION}" STREQUAL "4")
message("4")
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
ELSE()
message("5")
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
ENDIF()
endif()
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/guilib/include
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
IF("${MY_QT_VERSION}" STREQUAL "4")
INCLUDE(${QT_USE_FILE})
ENDIF()
SET(LIBRARIES
${RTABMap_LIBRARIES}
${OpenCV_LIBRARIES}
${QT_LIBRARIES}
${PCL_LIBRARIES}
@@ -19,7 +55,7 @@ SET(LIBRARIES
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
IF("${MY_QT_VERSION}" STREQUAL "4")
QT4_WRAP_CPP(moc_srcs MapBuilder.h)
ELSE()
QT5_WRAP_CPP(moc_srcs MapBuilder.h)
@@ -27,7 +63,9 @@ ENDIF()
ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})
TARGET_LINK_LIBRARIES(rgbd_mapping rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(rgbd_mapping ${LIBRARIES})
SET_TARGET_PROPERTIES( rgbd_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_mapping)
if(internal)
SET_TARGET_PROPERTIES( rgbd_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_mapping)
endif(internal)
examples/WifiMapping/CMakeLists.txt
+50 -12
View File
@@ -1,20 +1,53 @@
cmake_minimum_required(VERSION 2.8)
SET(srcs
main.cpp)
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
if(internal)
# inside rtabmap project (see below for external build)
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/guilib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_gui
rtabmap_utilite
)
SET(MY_QT_VERSION ${RTABMAP_QT_VERSION})
else()
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
# Use Qt4 or Qt5
SET(MY_QT_VERSION 4 CACHE STRING "Which Qt version to use")
IF("${MY_QT_VERSION}" STREQUAL "4")
message("4")
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
ELSE()
message("5")
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
ENDIF()
endif()
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
${PROJECT_SOURCE_DIR}/guilib/include
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
IF("${MY_QT_VERSION}" STREQUAL "4")
INCLUDE(${QT_USE_FILE})
ENDIF()
SET(LIBRARIES
${RTABMap_LIBRARIES}
${OpenCV_LIBRARIES}
${QT_LIBRARIES}
${PCL_LIBRARIES}
@@ -22,12 +55,15 @@ SET(LIBRARIES
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
QT4_WRAP_CPP(moc_srcs ../RGBDMapping/MapBuilder.h MapBuilderWifi.h)
IF("${MY_QT_VERSION}" STREQUAL "4")
QT4_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
ELSE()
QT5_WRAP_CPP(moc_srcs ../RGBDMapping/MapBuilder.h MapBuilderWifi.h)
QT5_WRAP_CPP(moc_srcs MapBuilder.h MapBuilderWifi.h)
ENDIF()
SET(srcs
main.cpp)
IF(APPLE)
FIND_LIBRARY(CoreWLAN_LIBRARY CoreWLAN)
FIND_LIBRARY(Foundation_LIBRARY Foundation)
@@ -44,7 +80,9 @@ IF(APPLE)
ENDIF(APPLE)
ADD_EXECUTABLE(wifi_mapping ${srcs} ${moc_srcs})
TARGET_LINK_LIBRARIES(wifi_mapping rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(wifi_mapping ${LIBRARIES})
SET_TARGET_PROPERTIES( wifi_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-wifi_mapping)
if(internal)
SET_TARGET_PROPERTIES( wifi_mapping
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-wifi_mapping)
endif(internal)
examples/WifiMapping/MapBuilder.h
+288
View File
@@ -0,0 +1,288 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef MAPBUILDER_H_
#define MAPBUILDER_H_
#include <QVBoxLayout>
#include <QtCore/QMetaType>
#include <QAction>
#ifndef Q_MOC_RUN // Mac OS X issue
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/RtabmapEvent.h"
#endif
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UEventsHandler.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/CameraThread.h"
using namespace rtabmap;
// This class receives RtabmapEvent and construct/update a 3D Map
class MapBuilder : public QWidget, public UEventsHandler
{
Q_OBJECT
public:
//Camera ownership is not transferred!
MapBuilder(CameraThread * camera = 0) :
camera_(camera),
odometryCorrection_(Transform::getIdentity()),
processingStatistics_(false),
lastOdometryProcessed_(true)
{
this->setWindowFlags(Qt::Dialog);
this->setWindowTitle(tr("3D Map"));
this->setMinimumWidth(800);
this->setMinimumHeight(600);
cloudViewer_ = new CloudViewer(this);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(cloudViewer_);
this->setLayout(layout);
qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
QAction * pause = new QAction(this);
this->addAction(pause);
pause->setShortcut(Qt::Key_Space);
connect(pause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
}
virtual ~MapBuilder()
{
this->unregisterFromEventsManager();
}
protected slots:
virtual void pauseDetection()
{
UWARN("");
if(camera_)
{
if(camera_->isCapturing())
{
camera_->join(true);
}
else
{
camera_->start();
}
}
}
virtual void processOdometry(const rtabmap::OdometryEvent & odom)
{
if(!this->isVisible())
{
return;
}
Transform pose = odom.pose();
if(pose.isNull())
{
//Odometry lost
cloudViewer_->setBackgroundColor(Qt::darkRed);
pose = lastOdomPose_;
}
else
{
cloudViewer_->setBackgroundColor(cloudViewer_->getDefaultBackgroundColor());
}
if(!pose.isNull())
{
lastOdomPose_ = pose;
// 3d cloud
if(odom.data().depthOrRightRaw().cols == odom.data().imageRaw().cols &&
odom.data().depthOrRightRaw().rows == odom.data().imageRaw().rows &&
!odom.data().depthOrRightRaw().empty() &&
(odom.data().stereoCameraModel().isValidForProjection() || odom.data().cameraModels().size()))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
odom.data(),
2, // decimation
4.0f); // max depth
if(cloud->size())
{
if(!cloudViewer_->addCloud("cloudOdom", cloud, odometryCorrection_*pose))
{
UERROR("Adding cloudOdom to viewer failed!");
}
}
else
{
cloudViewer_->setCloudVisibility("cloudOdom", false);
UWARN("Empty cloudOdom!");
}
}
if(!odom.pose().isNull())
{
// update camera position
cloudViewer_->updateCameraTargetPosition(odometryCorrection_*odom.pose());
}
}
cloudViewer_->update();
lastOdometryProcessed_ = true;
}
virtual void processStatistics(const rtabmap::Statistics & stats)
{
processingStatistics_ = true;
//============================
// Add RGB-D clouds
//============================
const std::map<int, Transform> & poses = stats.poses();
QMap<std::string, Transform> clouds = cloudViewer_->getAddedClouds();
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{
if(!iter->second.isNull())
{
std::string cloudName = uFormat("cloud%d", iter->first);
// 3d point cloud
if(clouds.contains(cloudName))
{
// Update only if the pose has changed
Transform tCloud;
cloudViewer_->getPose(cloudName, tCloud);
if(tCloud.isNull() || iter->second != tCloud)
{
if(!cloudViewer_->updateCloudPose(cloudName, iter->second))
{
UERROR("Updating pose cloud %d failed!", iter->first);
}
}
cloudViewer_->setCloudVisibility(cloudName, true);
}
else if(uContains(stats.getSignatures(), iter->first))
{
Signature s = stats.getSignatures().at(iter->first);
s.sensorData().uncompressData(); // make sure data is uncompressed
// Add the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
s.sensorData(),
4, // decimation
4.0f); // max depth
if(cloud->size())
{
if(!cloudViewer_->addCloud(cloudName, cloud, iter->second))
{
UERROR("Adding cloud %d to viewer failed!", iter->first);
}
}
else
{
UWARN("Empty cloud %d!", iter->first);
}
}
}
else
{
UWARN("Null pose for %d ?!?", iter->first);
}
}
//============================
// Add 3D graph (show all poses)
//============================
cloudViewer_->removeAllGraphs();
cloudViewer_->removeCloud("graph_nodes");
if(poses.size())
{
// Set graph
pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
}
*graphNodes = *graph;
// add graph
cloudViewer_->addOrUpdateGraph("graph", graph, Qt::gray);
cloudViewer_->addCloud("graph_nodes", graphNodes, Transform::getIdentity(), Qt::green);
cloudViewer_->setCloudPointSize("graph_nodes", 5);
}
odometryCorrection_ = stats.mapCorrection();
cloudViewer_->update();
processingStatistics_ = false;
}
virtual void handleEvent(UEvent * event)
{
if(event->getClassName().compare("RtabmapEvent") == 0)
{
RtabmapEvent * rtabmapEvent = (RtabmapEvent *)event;
const Statistics & stats = rtabmapEvent->getStats();
// Statistics must be processed in the Qt thread
if(this->isVisible())
{
QMetaObject::invokeMethod(this, "processStatistics", Q_ARG(rtabmap::Statistics, stats));
}
}
else if(event->getClassName().compare("OdometryEvent") == 0)
{
OdometryEvent * odomEvent = (OdometryEvent *)event;
// Odometry must be processed in the Qt thread
if(this->isVisible() &&
lastOdometryProcessed_ &&
!processingStatistics_)
{
lastOdometryProcessed_ = false; // if we receive too many odometry events!
QMetaObject::invokeMethod(this, "processOdometry", Q_ARG(rtabmap::OdometryEvent, *odomEvent));
}
}
}
protected:
CloudViewer * cloudViewer_;
CameraThread * camera_;
Transform lastOdomPose_;
Transform odometryCorrection_;
bool processingStatistics_;
bool lastOdometryProcessed_;
};
#endif /* MAPBUILDER_H_ */
examples/WifiMapping/MapBuilderWifi.h
+1 -1
View File
@@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef MAPBUILDERWIFI_H_
#define MAPBUILDERWIFI_H_
#include "../RGBDMapping/MapBuilder.h"
#include "MapBuilder.h"
#include "rtabmap/core/UserDataEvent.h"
using namespace rtabmap;