i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).

Browse Source
This commit is contained in:
matlabbe
2016-01-07 19:39:21 -05:00
parent b8c9f32fd8
commit e7565db5d0
22 changed files with 283 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -166,6 +166,7 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> poses_;
std::map<int, rtabmap::Transform> groundTruthPoses_;
std::multimap<int, rtabmap::Link> links_;
std::multimap<int, rtabmap::Link> linksRefined_;
std::multimap<int, rtabmap::Link> linksAdded_;

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

@@ -229,9 +229,11 @@ private:
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels,
const std::map<int, Transform> & groundTruths,
bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
void updateSelectSourceMenu();
@@ -296,7 +298,7 @@ private:
std::map<int, Transform> _currentGTPosesMap; // <nodeId, pose>
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _curentLabels; // <nodeId, label>
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>

3
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -124,7 +124,7 @@ public:
void saveCustomConfig(const QString & section, const QString & key, const QString & value);
QString loadCustomConfig(const QString & section, const QString & key);
rtabmap::ParametersMap getAllParameters();
const rtabmap::ParametersMap & getAllParameters() const;
//General panel
int getGeneralLoggerLevel() const;
@@ -315,6 +315,7 @@ private:
protected:
rtabmap::ParametersMap _parameters;
rtabmap::ParametersMap _modifiedParameters;
PANEL_FLAGS _obsoletePanels;
private: