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Fixed compilation error with PCL < 1.7.2 (disabled graph frustums option)

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matlabbe
2017-02-09 19:25:35 -05:00
parent 0d0577a886
commit 1be0d52051
2 changed files with 21 additions and 1 deletions
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15
guilib/src/CloudViewer.cpp
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@@ -1247,6 +1247,10 @@ void CloudViewer::addOrUpdateFrustum(
return;
}
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
this->removeFrustum(id);
#endif
if(!transform.isNull())
{
if(_frustums.find(id)==_frustums.end())
@@ -1267,7 +1271,12 @@ void CloudViewer::addOrUpdateFrustum(
c = color;
}
Transform opticalRotInv(0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0);
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
Eigen::Affine3f t = (transform*localTransform*opticalRotInv).toEigen3f();
#else
Eigen::Affine3f t = (localTransform*opticalRotInv).toEigen3f();
#endif
for(int i=0; i<frustumSize; ++i)
{
frustumPoints[i].x = frustum_vertices[i*3]*scaleX;
@@ -1288,10 +1297,12 @@ void CloudViewer::addOrUpdateFrustum(
_visualizer->addPolylineFromPolygonMesh(mesh, id);
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, c.redF(), c.greenF(), c.blueF(), id);
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(!this->updateFrustumPose(id, transform))
{
UERROR("Failed updating pose of frustum %s!?", id.c_str());
}
#endif
}
else
{
@@ -1303,6 +1314,7 @@ bool CloudViewer::updateFrustumPose(
const std::string & id,
const Transform & pose)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
QMap<std::string, Transform>::iterator iter=_frustums.find(id);
if(iter != _frustums.end() && !pose.isNull())
{
@@ -1335,6 +1347,9 @@ bool CloudViewer::updateFrustumPose(
return true;
}
#else
UERROR("updateFrustumPose() cannot be used with PCL<1.7.2. Use addOrUpdateFrustum() instead.");
#endif
return false;
}

7
guilib/src/PreferencesDialog.cpp
View File

@@ -259,6 +259,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
_ui->checkBox_showFrustums->setEnabled(false);
_ui->checkBox_showFrustums->setChecked(false);
#endif
// in case we change the ui, we should not forget to change stuff related to this parameter
UASSERT(_ui->odom_registration->count() == 4);
@@ -3978,7 +3983,7 @@ bool PreferencesDialog::isGraphsShown() const
}
bool PreferencesDialog::isFrustumsShown() const
{
return _ui->checkBox_showFrustums->isChecked();
return _ui->checkBox_showFrustums->isEnabled() && _ui->checkBox_showFrustums->isChecked();
}
bool PreferencesDialog::isLabelsShown() const
{