mirror of
https://github.com/introlab/rtabmap.git
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22e3082adc
Memory management tested on RGBD SLAM Fixed some crashes New parameter RGBD/LocalLoopDetectionMaxDiffID New parameter LccIcp2/VoxelSize Updated parameter LccIcp/Type (added "No ICP" type) Updated parameter kLccBowMinInliers (inliers minimum reduced to 1) TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found) TORO optimization: only one constraint between neighbors and loop closures TORO optimization: added initial tree guess Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode) New statistics: local loop space diff, last loop closure parent and child ids Database: Fixed empty signatures with no poses loaded ICP: fixed transform multiplication order Dump memory: added 3D words DatabaseViewer: added Export option (added ExportDialog object) DataRecorder: Option recording in RAM or Hard drive GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map GUI: fixed progress bar step count when generating the map Menu option: generate TORO graph (full/current map, optimized/not optimized) Menu option: download map (full/current map, optimized/not optimized) Preferences: added Reset all settings button Preferences: A QGroupBox can be a boolean parameter git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
49 lines
968 B
C++
49 lines
968 B
C++
/*
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* DataRecorder.h
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*
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* Created on: 2013-10-30
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* Author: Mathieu
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*/
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#ifndef DATARECORDER_H_
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#define DATARECORDER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <rtabmap/utilite/UEventsHandler.h>
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#include <QtGui/QWidget>
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#include <rtabmap/core/Image.h>
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#include <rtabmap/utilite/UTimer.h>
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namespace rtabmap {
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class Memory;
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class ImageView;
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class RTABMAPGUI_EXP DataRecorder : public QWidget, public UEventsHandler
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{
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Q_OBJECT
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public:
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DataRecorder(QWidget * parent = 0);
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bool init(const QString & path, bool recordInRAM = true);
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void close();
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virtual ~DataRecorder();
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public slots:
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void addData(const rtabmap::Image & image);
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void showImage(const rtabmap::Image & image);
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protected:
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void handleEvent(UEvent * event);
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private:
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Memory * memory_;
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ImageView* imageView_;
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UTimer timer_;
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int dataQueue_;
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};
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} /* namespace rtabmap */
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#endif /* DATARECORDER_H_ */
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