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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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16
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -31,6 +31,8 @@
#include <opencv2/features2d/features2d.hpp>
#include <set>
#include <rtabmap/core/Link.h>
class Ui_DatabaseViewer;
class QGraphicsScene;
class QGraphicsView;
@@ -55,12 +57,18 @@ private slots:
void openDatabase();
void generateGraph();
void exportDatabase();
void extractImages();
void generateLocalGraph();
void view3DMap();
void generate3DMap();
void sliderAValueChanged(int);
void sliderBValueChanged(int);
void sliderAMoved(int);
void sliderBMoved(int);
void sliderNeighborValueChanged(int);
void sliderLoopValueChanged(int);
void sliderIterationsValueChanged(int);
void updateGraphView();
private:
void updateIds();
@@ -71,12 +79,20 @@ private:
QLabel * labelChildren,
rtabmap::ImageView * view,
QLabel * labelId);
void updateConstraintView(const rtabmap::Link & link);
private:
Ui_DatabaseViewer * ui_;
QList<int> ids_;
QMap<int, int> idToIndex_;
QList<rtabmap::Link> neighborLinks_;
QList<rtabmap::Link> loopLinks_;
rtabmap::Memory * memory_;
QString pathDatabase_;
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::map<int, rtabmap::Transform> poses_;
std::multimap<int, rtabmap::Link> links_;
std::map<int, std::vector<unsigned char> > scans_;
};
#endif /* DATABASEVIEWER_H_ */