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Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)

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Covariance of virtual links added on the path is set to Identity. For those added to keep the path linked to current map, their covariance is set to 100.
DatabaseViewer: set fixed colors on constraints view
This commit is contained in:
Mathieu Labbe
2015-02-25 17:06:52 -05:00
parent eb96fe1249
commit 1d39db2bcc
11 changed files with 174 additions and 109 deletions
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14
guilib/src/CloudViewer.cpp
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@@ -179,14 +179,15 @@ bool CloudViewer::updateCloudPose(
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(_addedClouds.contains(id))
{
UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
int index = _visualizer->getColorHandlerIndex(id);
this->removeCloud(id);
if(this->addCloud(id, cloud, pose))
if(this->addCloud(id, cloud, pose, color))
{
_visualizer->updateColorHandlerIndex(id, index);
return true;
@@ -198,14 +199,15 @@ bool CloudViewer::updateCloud(
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(_addedClouds.contains(id))
{
UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
int index = _visualizer->getColorHandlerIndex(id);
this->removeCloud(id);
if(this->addCloud(id, cloud, pose))
if(this->addCloud(id, cloud, pose, color))
{
_visualizer->updateColorHandlerIndex(id, index);
return true;
@@ -220,7 +222,7 @@ bool CloudViewer::addOrUpdateCloud(
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose))
if(!updateCloud(id, cloud, pose, color))
{
return addCloud(id, cloud, pose, color);
}
@@ -233,7 +235,7 @@ bool CloudViewer::addOrUpdateCloud(
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose))
if(!updateCloud(id, cloud, pose, color))
{
return addCloud(id, cloud, pose, color);
}