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Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view.

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matlabbe
2016-08-08 14:35:39 -04:00
parent 6ef9034a67
commit a824b24058
7 changed files with 80 additions and 3 deletions
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guilib/src/DatabaseViewer.cpp
+16
View File
@@ -1209,6 +1209,22 @@ void DatabaseViewer::updateIds()
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(badcountInLTM));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));
ui_->textEdit_info->append("");
ParametersMap parameters = dbDriver_->getLastParameters();
QFontMetrics metrics(ui_->textEdit_info->font());
int tabW = ui_->textEdit_info->tabStopWidth();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
int strW = metrics.width(QString(iter->first.c_str()) + "=");
ui_->textEdit_info->append(tr("%1=%2%3")
.arg(iter->first.c_str())
.arg(strW < tabW?"\t\t\t\t":strW < tabW*2?"\t\t\t":strW < tabW*3?"\t\t":"\t")
.arg(iter->second.c_str()));
}
// move back the cursor at the beginning
ui_->textEdit_info->moveCursor(QTextCursor::Start) ;
ui_->textEdit_info->ensureCursorVisible() ;
if(ids.size())
{
guilib/src/MainWindow.cpp
+1 -1
View File
@@ -996,7 +996,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(_preferencesDialog->isScansShown(1))
{
// scan local map
// F2M: scan local map
if(!odom.info().localScanMap.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;