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Rtabmap: Added getPathNextPoses() and getPathNextNodes(). Local path is sent over statistics.

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GUI: local path is shown in GraphViewer. Now handling stereo odometry data.
This commit is contained in:
Mathieu Labbe
2015-02-03 11:09:10 -05:00
parent ee0051a585
commit ee885321aa
8 changed files with 168 additions and 23 deletions
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20
guilib/src/MainWindow.cpp
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@@ -713,19 +713,19 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
_odometryReceived = true;
// 3d cloud
if(data.depth().cols == data.image().cols &&
data.depth().rows == data.image().rows &&
!data.depth().empty() &&
if(data.depthOrRightImage().cols == data.image().cols &&
data.depthOrRightImage().rows == data.image().rows &&
!data.depthOrRightImage().empty() &&
data.fx() > 0.0f &&
data.fy() > 0.0f &&
data.fyOrBaseline() > 0.0f &&
_preferencesDialog->isCloudsShown(1))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = createCloud(0,
data.image(),
data.depth(),
data.depthOrRightImage(),
data.fx(),
data.fy(),
data.fyOrBaseline(),
data.cx(),
data.cy(),
data.localTransform(),
@@ -1133,6 +1133,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->graphicsView_graphView->updatePosterior(stat.posterior());
}
// update local path on the graph view
_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
UDEBUG("");
}
@@ -1246,7 +1248,8 @@ void MainWindow::updateMapCloud(
std::string cloudName = uFormat("cloud%d", iter->first);
// 3d point cloud
if(_preferencesDialog->isCloudsShown(0))
if((_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible() && _preferencesDialog->isGridMapFrom3DCloud()))
{
if(viewerClouds.contains(cloudName))
{
@@ -1281,7 +1284,8 @@ void MainWindow::updateMapCloud(
// 2d point cloud
std::string scanName = uFormat("scan%d", iter->first);
if(_preferencesDialog->isScansShown(0) || _ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown())
if((_ui->widget_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) ||
(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()))
{
if(viewerClouds.contains(scanName))
{