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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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32
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>777</width>
<height>826</height>
<width>761</width>
<height>867</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3713,8 +3713,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
<item>
<layout class="QFormLayout" name="formLayout_5">
<item row="0" column="0">
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -3736,13 +3736,33 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Use ICP estimation. If ICP 2D is selected, laser scans are required.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>TORO graph optimization iterations</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="globalDetection_toroIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>