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Tango: updated UI

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matlabbe
2017-06-28 13:59:20 -04:00
parent 64fc9f203e
commit ebada30984
19 changed files with 323 additions and 98 deletions
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corelib/include/rtabmap/core/DBDriver.h
+16
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@@ -104,12 +104,20 @@ public:
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
#endif
cv::Mat * textures = 0) const;
public:
@@ -219,12 +227,20 @@ private:
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
const cv::Mat & textures) const = 0;
virtual cv::Mat loadOptimizedMeshQuery(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
#endif
cv::Mat * textures) const = 0;
// Load objects
corelib/include/rtabmap/core/Memory.h
+9
View File
@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UStl.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <pcl/pcl_config.h>
namespace rtabmap {
@@ -98,12 +99,20 @@ public:
const cv::Mat & cloud,
const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
cv::Mat loadOptimizedMesh(
std::map<int, Transform> * poses = 0,
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
#endif
cv::Mat * textures = 0) const;
void emptyTrash();
void joinTrashThread();
corelib/src/DBDriver.cpp
+8
View File
@@ -1043,7 +1043,11 @@ void DBDriver::saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
const cv::Mat & textures) const
{
_dbSafeAccessMutex.lock();
@@ -1054,7 +1058,11 @@ void DBDriver::saveOptimizedMesh(
cv::Mat DBDriver::loadOptimizedMesh(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f>> > * texCoords,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
#endif
cv::Mat * textures) const
{
_dbSafeAccessMutex.lock();
corelib/src/DBDriverSqlite3.cpp
+12
View File
@@ -3833,7 +3833,11 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
const cv::Mat & textures) const
{
UDEBUG("");
@@ -4049,7 +4053,11 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
#endif
cv::Mat * textures) const
{
UDEBUG("");
@@ -4158,7 +4166,11 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
for(int t=0; t<serializedTexCoords.cols; ++t)
{
UASSERT(int(serializedTexCoords.at<float>(t)) > 0);
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > materialtexCoords(int(serializedTexCoords.at<float>(t)));
#else
std::vector<Eigen::Vector2f> materialtexCoords(int(serializedTexCoords.at<float>(t)));
#endif
++t;
UASSERT(t < serializedTexCoords.cols);
UDEBUG("materialtexCoords=%d", (int)materialtexCoords.size());
corelib/src/DBDriverSqlite3.h
+10 -2
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@@ -91,8 +91,8 @@ private:
const cv::Point3f & viewpoint) const;
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const;
int nodeId,
const cv::Mat & image) const;
virtual void addStatisticsQuery(const Statistics & statistics) const;
virtual void savePreviewImageQuery(const cv::Mat & image) const;
@@ -101,12 +101,20 @@ private:
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
const cv::Mat & textures) const;
virtual cv::Mat loadOptimizedMeshQuery(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
#endif
cv::Mat * textures) const;
// Load objects
corelib/src/Memory.cpp
+8
View File
@@ -1671,7 +1671,11 @@ void Memory::saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
const cv::Mat & textures) const
{
if(_dbDriver)
@@ -1683,7 +1687,11 @@ void Memory::saveOptimizedMesh(
cv::Mat Memory::loadOptimizedMesh(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f>> > * texCoords,
#else
std::vector<std::vector<Eigen::Vector2f> > * texCoords,
#endif
cv::Mat * textures) const
{
if(_dbDriver)