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0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.

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matlabbe
2018-02-08 21:40:17 -05:00
parent e7ceacc215
commit fced2c521c
32 changed files with 1642 additions and 600 deletions
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2
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -142,7 +142,7 @@ public:
const cv::Mat & texture,
const Transform & pose = Transform::getIdentity());
bool addOctomap(const OctoMap * octomap, unsigned int treeDepth = 0);
bool addOctomap(const OctoMap * octomap, unsigned int treeDepth = 0, bool volumeRepresentation = true);
void removeOctomap();
// Only one texture per mesh is supported!

4
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -196,9 +196,9 @@ private:
std::multimap<int, rtabmap::Link> linksRefined_;
std::multimap<int, rtabmap::Link> linksAdded_;
std::multimap<int, rtabmap::Link> linksRemoved_;
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps_; // <ground, obstacles>
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > localMaps_; // < <ground, obstacles>, empty>
std::map<int, std::pair<float, cv::Point3f> > localMapsInfo_; // <cell size, viewpoint>
std::map<int, std::pair<cv::Mat, cv::Mat> > generatedLocalMaps_; // <ground, obstacles>
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > generatedLocalMaps_; // < <ground, obstacles>, empty>
std::map<int, std::pair<float, cv::Point3f> > generatedLocalMapsInfo_; // <cell size, viewpoint>
std::map<int, cv::Mat> modifiedDepthImages_;
OctoMap * octomap_;

2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -255,7 +255,7 @@ private:
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth, double stamp = 0.0, int refId = -1);
Transform alignPosesToGroundTruth(const std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
void updateSelectSourceMenu();

5
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -173,10 +173,9 @@ public:
bool isCloudsShown(int index) const; // 0=map, 1=odom
bool isOctomapUpdated() const;
bool isOctomapShown() const;
bool isOctomapCubeRendering() const;
int getOctomapRenderingType() const;
bool isOctomap2dGrid() const;
int getOctomapTreeDepth() const;
bool isOctomapFullUpdate() const;
double getOctomapOccupancyThr() const;
int getOctomapPointSize() const;
int getCloudDecimation(int index) const; // 0=map, 1=odom
@@ -205,7 +204,6 @@ public:
double getSubtractFilteringAngle() const;
bool getGridMapShown() const;
double getGridMapResolution() const;;
bool isGridMapFrom3DCloud() const;
bool projMapFrame() const;
double projMaxGroundAngle() const;
@@ -305,7 +303,6 @@ private slots:
void updateKpROI();
void updateStereoDisparityVisibility();
void useOdomFeatures();
void useGridProjRayTracing();
void changeWorkingDirectory();
void changeDictionaryPath();
void changeOdometryORBSLAM2Vocabulary();