i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added GPS class for convenience, database viewer can view GPS values and export to KML format

Browse Source
This commit is contained in:
matlabbe
2017-09-26 14:13:06 -04:00
parent 8759fda632
commit 9691a4f361
35 changed files with 1150 additions and 381 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/include/rtabmap/gui/DatabaseViewer.h
+7
View File
@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <set>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
@@ -94,6 +95,9 @@ private slots:
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();
void exportPosesKML();
void exportGPS_TXT();
void exportGPS_KML();
void generateLocalGraph();
void regenerateLocalMaps();
void regenerateCurrentLocalMaps();
@@ -162,6 +166,7 @@ private:
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent);
void exportPoses(int format);
void exportGPS(int format);
private:
Ui_DatabaseViewer * ui_;
@@ -181,6 +186,8 @@ private:
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> poses_;
std::map<int, rtabmap::Transform> groundTruthPoses_;
std::map<int, rtabmap::Transform> gpsPoses_;
std::map<int, GPS> gpsValues_;
std::multimap<int, rtabmap::Link> links_;
std::multimap<int, rtabmap::Link> linksRefined_;
std::multimap<int, rtabmap::Link> linksAdded_;