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Added ViewPlane XY, XZ and YZ options to GraphViewer

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Parameter RGBD/SavedLocalizationIgnored now called RGBD/StartAtOrigin (updated description, used only in localization mode)
IcpReg: if Force4DoF, set lower covariance values for roll and pitch
DbViewer: updated detectMoreLoopClosures with new minRadius option and update optimized poses between each new accepted loop closures.
MainWindow: suppressed warning if depth image is not found in current node data (when rgb is).
3D Map view: changed default map point size to 1 (was 2)
This commit is contained in:
matlabbe
2021-03-12 17:47:36 -05:00
parent da2e2f810c
commit f6e17be2b4
13 changed files with 360 additions and 102 deletions
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12
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -52,6 +52,9 @@ class RTABMAPGUI_EXP GraphViewer : public QGraphicsView {
Q_OBJECT;
public:
enum ViewPlane {XY, XZ, YZ};
public:
GraphViewer(QWidget * parent = 0);
virtual ~GraphViewer();
@@ -114,6 +117,7 @@ public:
bool isGtGraphVisible() const;
bool isGPSGraphVisible() const;
bool isOrientationENU() const;
ViewPlane getViewPlane() const;
// setters
void setWorkingDirectory(const QString & path);
@@ -149,6 +153,7 @@ public:
void setGtGraphVisible(bool visible);
void setGPSGraphVisible(bool visible);
void setOrientationENU(bool enabled);
void setViewPlane(ViewPlane plane);
Q_SIGNALS:
void configChanged();
@@ -201,12 +206,19 @@ private:
float _linkWidth;
QGraphicsPixmapItem * _gridMap;
QGraphicsItemGroup * _referential;
QGraphicsItemGroup * _referentialXY;
QGraphicsItemGroup * _referentialXZ;
QGraphicsItemGroup * _referentialYZ;
QGraphicsItemGroup * _originReferential;
QGraphicsItemGroup * _originReferentialXY;
QGraphicsItemGroup * _originReferentialXZ;
QGraphicsItemGroup * _originReferentialYZ;
float _gridCellSize;
QGraphicsEllipseItem * _localRadius;
float _loopClosureOutlierThr;
float _maxLinkLength;
bool _orientationENU;
ViewPlane _viewPlane;
};
} /* namespace rtabmap */