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DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.

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This commit is contained in:
Mathieu Labbe
2015-04-17 18:30:12 -04:00
parent b48bd7cf70
commit 5700c14bcb
25 changed files with 325 additions and 49 deletions
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guilib/src/GraphViewer.h
+7 -2
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@@ -58,6 +58,7 @@ public:
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
void updateLocalPath(const std::vector<int> & localPath);
void setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath);
void clearGraph();
void clearMap();
void clearPosterior();
@@ -76,7 +77,8 @@ public:
const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
const QColor & getLocalPathColor() const {return _pathColor;}
const QColor & getLocalPathColor() const {return _localPathColor;}
const QColor & getGlobalPathColor() const {return _globalPathColor;}
bool isGridMapVisible() const;
bool isOriginVisible() const;
bool isReferentialVisible() const;
@@ -92,6 +94,7 @@ public:
void setUserLoopClosureColor(const QColor & color);
void setVirtualLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
void setGridMapVisible(bool visible);
void setOriginVisible(bool visible);
void setReferentialVisible(bool visible);
@@ -114,10 +117,12 @@ private:
QColor _loopClosureLocalColor;
QColor _loopClosureUserColor;
QColor _loopClosureVirtualColor;
QColor _pathColor;
QColor _localPathColor;
QColor _globalPathColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _linkItems;
QMultiMap<int, LinkItem*> _globalPathLinkItems;
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;