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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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corelib/include/rtabmap/core/Statistics.h
+5 -1
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@@ -27,7 +27,7 @@
#include <opencv2/imgproc/imgproc.hpp>
#include <list>
#include <vector>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>
namespace rtabmap {
@@ -56,6 +56,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(LocalLoop, Odom_corrected,);
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_closure_id,);
RTABMAP_STATS(LocalLoop, Space_nearest_id,);
RTABMAP_STATS(LocalLoop, Space_neighbors,);
RTABMAP_STATS(LocalLoop, Space_diff_id,);
@@ -117,6 +118,7 @@ public:
void setLocalTransforms(const std::map<int, Transform> & localTransforms) {_localTransforms = localTransforms;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
void setCurrentPose(const Transform & pose) {_currentPose = pose;}
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
@@ -141,6 +143,7 @@ public:
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const std::map<int, Transform> & poses() const {return _poses;}
const std::multimap<int, Link> & constraints() const {return _constraints;}
const Transform & currentPose() const {return _currentPose;}
const Transform & mapCorrection() const {return _mapCorrection;}
const Transform & loopClosureTransform() const {return _loopClosureTransform;}
@@ -171,6 +174,7 @@ private:
std::map<int, Transform> _localTransforms;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
Transform _currentPose;
Transform _mapCorrection;
Transform _loopClosureTransform;