i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

GUI export: added mesh quadric decimation factor option

Browse Source
This commit is contained in:
matlabbe
2015-08-24 12:49:45 -04:00
parent 698ae0eeda
commit 45877e7486
8 changed files with 144 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
guilib/src/CloudViewer.cpp
View File

@@ -536,6 +536,25 @@ bool CloudViewer::addCloud(
return false;
}
bool CloudViewer::addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose)
{
if(!_addedClouds.contains(id))
{
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
{
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
}
}
return false;
}
bool CloudViewer::addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,