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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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13
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -11,12 +11,16 @@
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include <QVTKWidget.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include "rtabmap/core/Transform.h"
#include <QtCore/QMap>
#include <QtCore/QSet>
#include <QtCore/qnamespace.h>
#include <pcl/visualization/mouse_event.h>
#include <pcl/PCLPointCloud2.h>
namespace pcl {
@@ -110,12 +114,17 @@ public slots:
void setCloudPointSize(const std::string & id, int size);
protected:
virtual void keyReleaseEvent(QKeyEvent * event);
virtual void keyPressEvent(QKeyEvent * event);
virtual void contextMenuEvent(QContextMenuEvent * event);
virtual void handleAction(QAction * event);
QMenu * menu() {return _menu;}
private:
void createMenu();
bool frustumCulling(const pcl::PointXYZ & cloud);
pcl::IndicesPtr frustumCulling(const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
void mouseEventOccurred (const pcl::visualization::MouseEvent &event, void* viewer_void);
private:
pcl::visualization::PCLVisualizer * _visualizer;
@@ -127,12 +136,16 @@ private:
QAction * _aSetTrajectorySize;
QAction * _aClearTrajectory;
QAction * _aShowGrid;
QAction * _aSetBackgroundColor;
QAction * _setFarPlaneDistance;
QMenu * _menu;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
QMap<std::string, Transform> _addedClouds; // include meshes
Transform _lastPose;
std::list<std::string> _gridLines;
float _farPlaneDistance;
QSet<Qt::Key> _keysPressed;
};
} /* namespace rtabmap */