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DatabaseViewer: Added ExportCloudsDialog, added Occupancy Grid View

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matlabbe
2017-03-21 21:51:39 -04:00
parent 622352b411
commit 2574f3a8ee
8 changed files with 892 additions and 522 deletions
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12
guilib/src/CloudViewer.cpp
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@@ -753,11 +753,15 @@ bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth)
pcl::IndicesPtr obstacles(new std::vector<int>);
if(treeDepth > octomap->octree()->getTreeDepth())
if(treeDepth == 0 || treeDepth > octomap->octree()->getTreeDepth())
{
UWARN("Tree depth requested (%d) is deeper than the "
"actual maximum tree depth of %d. Using maximum depth.",
(int)treeDepth, (int)octomap->octree()->getTreeDepth());
if(treeDepth>0)
{
UWARN("Tree depth requested (%d) is deeper than the "
"actual maximum tree depth of %d. Using maximum depth.",
(int)treeDepth, (int)octomap->octree()->getTreeDepth());
}
treeDepth = octomap->octree()->getTreeDepth();
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap->createCloud(treeDepth, obstacles.get());