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0.11.2: First Google Tango release

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matlabbe
2016-02-15 19:35:24 -05:00
parent 8dc01c491b
commit c6a46a7238
415 changed files with 73300 additions and 3193 deletions
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guilib/include/rtabmap/gui/MainWindow.h
+4 -18
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@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
namespace rtabmap {
@@ -243,24 +244,7 @@ private:
void exportPoses(int format);
QString captureScreen(bool cacheInRAM = false);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth,
float filteringRadius,
float filteringMinNeighbors) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const std::map<int, pcl::TextureMesh::Ptr> & meshes);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
private:
@@ -299,7 +283,9 @@ private:
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>