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New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)

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New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-11 23:04:22 +00:00
parent df3d694829
commit ea570abb8c
27 changed files with 2178 additions and 242 deletions
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6
app/src/main.cpp
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@@ -32,7 +32,7 @@ int main(int argc, char* argv[])
{
/* Set logger type */
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo); // Disable log with level
ULogger::setLevel(ULogger::kInfo);
ULOGGER_INFO("Program started...");
@@ -61,6 +61,8 @@ int main(int argc, char* argv[])
ULOGGER_INFO("Killing threads...");
rtabmap->join(true);
ULogger::setLevel(ULogger::kInfo);
ULOGGER_INFO("Closing RTAB-Map core...");
//Since we can't put the Rtabmap object in the MainWindow class,
@@ -86,7 +88,7 @@ int main(int argc, char* argv[])
delete app;
ULOGGER_INFO("All done! Closing...");
ULOGGER_INFO("All done!");
return 0;
}