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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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206
guilib/src/ui/mainWindow.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>809</width>
<height>661</height>
<width>947</width>
<height>741</height>
</rect>
</property>
<property name="windowTitle">
@@ -20,88 +20,13 @@
<property name="dockOptions">
<set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks|QMainWindow::VerticalTabs</set>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_refId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_source">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_matchId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_loopClosure">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="widget_mainWindow"/>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>809</width>
<width>947</width>
<height>25</height>
</rect>
</property>
@@ -116,7 +41,9 @@
<string>Edit</string>
</property>
<addaction name="actionApply_settings_to_the_detector"/>
<addaction name="separator"/>
<addaction name="actionDownload_all_clouds"/>
<addaction name="actionDownload_graph"/>
<addaction name="separator"/>
<addaction name="actionOpen_working_directory"/>
<addaction name="actionPrint_loop_closure_IDs_to_console"/>
@@ -212,6 +139,7 @@
</widget>
<addaction name="menuShow_view"/>
<addaction name="menuFigures"/>
<addaction name="actionScreenshot"/>
<addaction name="actionAuto_screen_capture"/>
<addaction name="menuAspect_ratio_2"/>
<addaction name="separator"/>
@@ -642,6 +570,111 @@
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_graphViewer">
<property name="windowTitle">
<string>Graph view</string>
</property>
<attribute name="dockWidgetArea">
<number>8</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_9">
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="rtabmap::GraphViewer" name="graphicsView_graphView"/>
</item>
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_imageView">
<property name="windowTitle">
<string>Loop closure detection</string>
</property>
<attribute name="dockWidgetArea">
<number>2</number>
</attribute>
<widget class="QWidget" name="layout_imageview">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_refId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_source">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_matchId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_loopClosure">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<action name="actionExit">
<property name="text">
<string>Exit</string>
@@ -936,6 +969,16 @@
<string>Generate TORO graph (*.graph)...</string>
</property>
</action>
<action name="actionDownload_graph">
<property name="text">
<string>Download graph only</string>
</property>
</action>
<action name="actionScreenshot">
<property name="text">
<string>Take a screenshot</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
@@ -979,6 +1022,11 @@
<header>MapVisibilityWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::GraphViewer</class>
<extends>QGraphicsView</extends>
<header>GraphViewer.h</header>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>