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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/src/DBDriverSqlite3.cpp
+3 -10
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@@ -661,7 +661,6 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
{
if(_ppDb && signatureId)
{
UTimer timer;
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
@@ -700,8 +699,6 @@ void DBDriverSqlite3::getPoseQuery(int signatureId, Transform & pose, int & mapI
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Time=%fs", timer.ticks());
}
}
@@ -864,8 +861,6 @@ void DBDriverSqlite3::loadLoopClosuresQuery(int nodeId, std::map<int, Transform>
childIds.clear();
if(_ppDb)
{
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
@@ -923,8 +918,6 @@ void DBDriverSqlite3::loadLoopClosuresQuery(int nodeId, std::map<int, Transform>
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
UDEBUG("time =%fs", timer.getElapsedTime());
}
}
@@ -952,7 +945,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
for(std::list<int>::const_iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
ULOGGER_DEBUG("Loading node %d...", *iter);
//ULOGGER_DEBUG("Loading node %d...", *iter);
// bind id
rc = sqlite3_bind_int(ppStmt, 1, *iter);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1028,7 +1021,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
// bind id
rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
@@ -1428,7 +1421,7 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
//reset
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
UINFO("time=%fs, node=%d, neighbors.size=%d, loopIds=%d, childIds=%d", timer.ticks(), (*iter)->id(), neighbors.size(), loopIds.size(), childIds.size());
UDEBUG("time=%fs, node=%d, neighbors.size=%d, loopIds=%d, childIds=%d", timer.ticks(), (*iter)->id(), neighbors.size(), loopIds.size(), childIds.size());
}
// Finalize (delete) the statement