attributes and new IMU viewwer

Author: pbustos

api/CMakeLists.txt

@@ -49,6 +49,7 @@ target_sources(dsr_api
         dsr_camera_api.cpp
         dsr_agent_info_api.cpp
         dsr_inner_eigen_api.cpp
+        dsr_inner_gaussian_api.cpp
         dsr_rt_api.cpp
         dsr_utils.cpp
         dsr_signal_emitter.cpp

api/include/dsr/api/dsr_api.h

@@ -26,6 +26,7 @@
 #include "dsr/core/traits.h"
 #include "dsr/api/dsr_agent_info_api.h"
 #include "dsr/api/dsr_inner_eigen_api.h"
+#include "dsr/api/dsr_inner_gaussian_api.h"
 #include "dsr/api/dsr_camera_api.h"
 #include "dsr/api/dsr_rt_api.h"
 #include "dsr/api/dsr_utils.h"
@@ -80,6 +81,7 @@ namespace DSR
         std::map<uint64_t, Node> getCopy() const;
 
         std::unique_ptr<InnerEigenAPI> get_inner_eigen_api() { return std::make_unique<InnerEigenAPI>(this); };
+        std::unique_ptr<InnerGaussianAPI> get_inner_gaussian_api() { return std::make_unique<InnerGaussianAPI>(this); };
         std::unique_ptr<RT_API> get_rt_api() { return std::make_unique<RT_API>(this); };
         std::unique_ptr<CameraAPI> get_camera_api(const DSR::Node &camera_node) { return std::make_unique<CameraAPI>(this, camera_node); };
 

core/include/dsr/core/types/type_checking/dsr_attr_name.h

@@ -406,8 +406,8 @@ REGISTER_TYPE(imu_id, int, false)
 REGISTER_TYPE(imu_accelerometer, std::reference_wrapper<const std::vector<float>>, false)
 REGISTER_TYPE(imu_gyroscope, std::reference_wrapper<const std::vector<float>>, false)
 REGISTER_TYPE(imu_compass, float, false)
-REGISTER_TYPE(imu_time_stamp, float, false)
-REGISTER_TYPE(imu_sensor_tick, float, false)
+REGISTER_TYPE(imu_time_stamp, uint64_t, false)
+REGISTER_TYPE(imu_sensor_tick, uint64_t, false)
 
 REGISTER_TYPE(imu_linear_pose, std::reference_wrapper<const std::vector<float>>, false)
 REGISTER_TYPE(imu_angular_euler_xyz_pose, std::reference_wrapper<const std::vector<float>>, false)

gui/CMakeLists.txt

@@ -60,6 +60,7 @@ set(headers_to_moc
         include/dsr/gui/viewers/graph_viewer/graph_edge.h
         include/dsr/gui/viewers/graph_viewer/graph_edge_widget.h
         include/dsr/gui/viewers/graph_viewer/graph_edge_rt_widget.h
+        include/dsr/gui/viewers/graph_viewer/graph_node_imu_widget.h
         include/dsr/gui/viewers/graph_viewer/graph_node_laser_widget.h
         include/dsr/gui/viewers/graph_viewer/graph_node_rgbd_widget.h
         include/dsr/gui/viewers/graph_viewer/graph_node_person_widget.h

gui/viewers/graph_viewer/graph_node.cpp

@@ -17,6 +17,7 @@
 #include <dsr/gui/viewers/graph_viewer/graph_node.h>
 //#include <dsr/gui/viewers/graph_viewer/node_colors.h>
 #include <dsr/gui/viewers/graph_viewer/graph_colors.h>
+#include <dsr/gui/viewers/graph_viewer/graph_node_imu_widget.h>
 #include <dsr/gui/viewers/graph_viewer/graph_node_laser_widget.h>
 #include <dsr/gui/viewers/graph_viewer/graph_node_widget.h>
 #include <dsr/gui/viewers/graph_viewer/graph_node_rgbd_widget.h>
@@ -62,7 +63,7 @@ void GraphNode::setTag(const std::string &tag_)
 void GraphNode::setType(const std::string &type_)
 {
     type = type_;
-    if(type == "laser" or type == "rgbd" or type == "person")
+    if(type == "laser" or type == "rgbd" or type == "person" or type == "imu")
     {
         QAction *stuff_action = new QAction("View data");
         contextMenu->addAction(stuff_action);
@@ -256,6 +257,8 @@ void GraphNode::show_node_widget(const std::string &show_type)
         node_widget = std::make_unique<GraphNodeRGBDWidget>(graph, id_in_graph);
     else if(show_type=="person")
         node_widget = std::make_unique<GraphNodePersonWidget>(graph, id_in_graph);
+    else if(show_type=="imu")
+        node_widget = std::make_unique<GraphNodeIMUWidget>(graph, id_in_graph);
     else
         node_widget = std::make_unique<GraphNodeWidget>(graph, id_in_graph);
 

tests/CMakeLists.txt

@@ -30,6 +30,7 @@ add_executable(tests test.cpp
                      graph/graph_operations.cpp
                      graph/attribute_operations.cpp
                      graph/convenience_operations.cpp
+                     graph/inner_gaussian.cpp
                      graph/rt_timestamp.cpp
                      crdt/crdt_operations.cpp
                      synchronization/graph_synchronization.cpp