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fixed OdometryViewer where clouds were not all removed or shown

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This commit is contained in:
Mathieu Labbe
2015-04-06 14:32:32 -04:00
parent 5b5a32839c
commit 39ef8c0f0a
5 changed files with 39 additions and 34 deletions
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5
guilib/src/CloudViewer.cpp
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@@ -625,8 +625,9 @@ void CloudViewer::removeAllClouds()
bool CloudViewer::removeCloud(const std::string & id)
{
_addedClouds.remove(id);
return _visualizer->removePointCloud(id);
bool success = _visualizer->removePointCloud(id);
_addedClouds.remove(id); // remove after visualizer
return success;
}
bool CloudViewer::getPose(const std::string & id, Transform & pose)

47
guilib/src/OdometryViewer.cpp
View File

@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QLabel>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QApplication>
namespace rtabmap {
@@ -61,7 +62,7 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
qRegisterMetaType<rtabmap::OdometryInfo>("rtabmap::OdometryInfo");
imageView_->setImageDepthShown(true);
imageView_->setImageDepthShown(false);
imageView_->setMinimumSize(320, 240);
cloudView_->setCameraFree();
@@ -126,6 +127,7 @@ OdometryViewer::~OdometryViewer()
void OdometryViewer::clear()
{
addedClouds_.clear();
cloudView_->clear();
}
@@ -214,30 +216,32 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, data.localTransform());
}
if(!data.pose().isNull())
{
lastOdomPose_ = data.pose();
if(cloudView_->getAddedClouds().contains("cloudtmp"))
if(!data.pose().isNull())
{
cloudView_->removeCloud("cloudtmp");
lastOdomPose_ = data.pose();
if(cloudView_->getAddedClouds().contains("cloudtmp"))
{
cloudView_->removeCloud("cloudtmp");
}
while(maxCloudsSpin_->value()>0 && (int)addedClouds_.size() > maxCloudsSpin_->value())
{
UASSERT(cloudView_->removeCloud(addedClouds_.first()));
addedClouds_.pop_front();
}
data.id()?id_=data.id():++id_;
std::string cloudName = uFormat("cloud%d", id_);
addedClouds_.push_back(cloudName);
UASSERT(cloudView_->addCloud(cloudName, cloud, data.pose()));
cloudView_->updateCameraTargetPosition(data.pose());
}
data.id()?id_=data.id():++id_;
while(maxCloudsSpin_->value()>0 && (int)cloudView_->getAddedClouds().size() > maxCloudsSpin_->value())
else
{
cloudView_->removeCloud(cloudView_->getAddedClouds().begin().key());
cloudView_->addOrUpdateCloud("cloudtmp", cloud, lastOdomPose_);
}
cloudView_->addOrUpdateCloud(uFormat("cloud%d", id_), cloud, data.pose());
cloudView_->updateCameraTargetPosition(data.pose());
}
else
{
cloudView_->addOrUpdateCloud("cloudtmp", cloud, lastOdomPose_);
}
}
@@ -316,7 +320,6 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
Qt::blue);
}
}
imageView_->update();
}
}
@@ -327,7 +330,9 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
}
}
imageView_->update();
cloudView_->update();
QApplication::processEvents();
processingData_ = false;
}