i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats

Browse Source
This commit is contained in:
matlabbe
2018-02-18 21:32:19 -05:00
parent 00559ce8d6
commit 37cbf79b4c
2 changed files with 8 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
guilib/src/DatabaseViewer.cpp
View File

@@ -5183,24 +5183,24 @@ void DatabaseViewer::updateOctomapView()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), Qt::red);
occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), QColor(ui_->lineEdit_obstacleColor->text()));
occupancyGridViewer_->setCloudPointSize("octomap_obstacles", 5);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *ground, *groundCloud);
occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), Qt::green);
occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), QColor(ui_->lineEdit_groundColor->text()));
occupancyGridViewer_->setCloudPointSize("octomap_ground", 5);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), Qt::red);
occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), QColor(ui_->lineEdit_obstacleColor->text()));
occupancyGridViewer_->setCloudPointSize("octomap_obstacles", 5);
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *ground, *groundCloud);
occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), Qt::green);
occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), QColor(ui_->lineEdit_groundColor->text()));
occupancyGridViewer_->setCloudPointSize("octomap_ground", 5);
}
@@ -5208,7 +5208,7 @@ void DatabaseViewer::updateOctomapView()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr emptyCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *empty, *emptyCloud);
occupancyGridViewer_->addCloud("octomap_empty", emptyCloud, Transform::getIdentity(), Qt::white);
occupancyGridViewer_->addCloud("octomap_empty", emptyCloud, Transform::getIdentity(), QColor(ui_->lineEdit_emptyColor->text()));
occupancyGridViewer_->setCloudOpacity("octomap_empty", 0.5);
occupancyGridViewer_->setCloudPointSize("octomap_empty", 5);
}