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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/Memory.cpp
+7 -6
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@@ -200,6 +200,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(postInitEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
_dbDriver->load(_vwd);
UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
_vwd->update();
if(postInitEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Loading dictionary, done! (%d words)", (int)_vwd->getUnusedWordsSize())));
}
@@ -1851,7 +1852,7 @@ Transform Memory::computeIcpTransform(const Signature & oldS, const Signature &
// verify if there are enough correspondences
int correspondences = util3d::getCorrespondencesCount(newCloud, oldCloud, _icp2MaxCorrespondenceDistance);
correspondencesRatio = float(correspondences)/float(oldCloud->size());
correspondencesRatio = float(correspondences)/float(oldCloud->size()>newCloud->size()?oldCloud->size():newCloud->size());
UDEBUG("hasConverged=%s, fitness=%f, correspondences=%d/%d (%f%%)",
hasConverged?"true":"false",
@@ -3198,7 +3199,7 @@ std::set<int> Memory::reactivateSignatures(const std::list<int> & ids, unsigned
void Memory::getMetricConstraints(
const std::vector<int> & ids,
std::map<int, Transform> & poses,
std::multimap<int, std::pair<int, Transform> > & links,
std::multimap<int, Link> & links,
bool lookInDatabase)
{
for(unsigned int i=0; i<ids.size(); ++i)
@@ -3221,18 +3222,18 @@ void Memory::getMetricConstraints(
if(!jter->second.isNull() && uContains(poses, jter->first))
{
bool edgeAlreadyAdded = false;
for(std::multimap<int, std::pair<int, Transform> >::iterator iter = links.lower_bound(jter->first);
for(std::multimap<int, Link>::iterator iter = links.lower_bound(jter->first);
iter != links.end() && iter->first == jter->first;
++iter)
{
if(iter->second.first == ids[i])
if(iter->second.to() == ids[i])
{
edgeAlreadyAdded = true;
}
}
if(!edgeAlreadyAdded)
{
links.insert(std::make_pair(ids[i], *jter));
links.insert(std::make_pair(ids[i], Link(ids[i], jter->first, jter->second, Link::kNeighbor)));
}
}
}
@@ -3243,7 +3244,7 @@ void Memory::getMetricConstraints(
{
if(!jter->second.isNull() && uContains(poses, jter->first))
{
links.insert(std::make_pair(ids[i], *jter));
links.insert(std::make_pair(ids[i], Link(ids[i], jter->first, jter->second, Link::kGlobalClosure)));
}
}
}