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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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This commit is contained in:
matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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3
corelib/include/rtabmap/core/Memory.h
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@@ -93,8 +93,7 @@ public:
void emptyTrash();
void joinTrashThread();
bool addLink(const Link & link, bool addInDatabase = false);
void updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance);
void updateLink(int fromId, int toId, const Transform & transform, const cv::Mat & covariance);
void updateLink(const Link & link, bool updateInDatabase = false);
void removeAllVirtualLinks();
void removeVirtualLinks(int signatureId);
std::map<int, int> getNeighborsId(

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -128,6 +128,7 @@ public:
bool global,
std::map<int, Signature> * signatures = 0);
int detectMoreLoopClosures(float clusterRadius = 0.5f, float clusterAngle = M_PI/6.0f, int iterations = 1);
int refineLinks();
int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
void clearPath(int status); // -1=failed 0=idle/executing 1=success

4
corelib/include/rtabmap/core/util3d.h
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@@ -141,7 +141,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap(),
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
/**
@@ -164,7 +164,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap(),
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(