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GUI: added option to show octomap as a point cloud (less GPU power required)

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This commit is contained in:
matlabbe
2016-10-18 13:29:40 -04:00
parent 73268c2af2
commit 5a24bcfe51
5 changed files with 69 additions and 24 deletions
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4
corelib/src/OctoMap.cpp
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@@ -439,7 +439,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
int gi=0;
for (octomap::ColorOcTree::iterator it = octree_->begin(treeDepth); it != octree_->end(); ++it)
{
if(octree_->isNodeOccupied(*it))
if(octree_->isNodeOccupied(*it) && (obstacleIndices || emptyIndices == 0))
{
octomap::point3d pt = octree_->keyToCoord(it.getKey());
if(octree_->getTreeDepth() == it.getDepth() && hasColor_)
@@ -465,7 +465,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
}
++oi;
}
else
else if(emptyIndices || obstacleIndices == 0)
{
octomap::point3d pt = octree_->keyToCoord(it.getKey());
(*cloud)[oi] = pcl::PointXYZRGB(it->getColor().r, it->getColor().g, it->getColor().b);