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MainWindow: added currentVisiblePosesMap()

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matlabbe
2021-06-20 23:05:24 -04:00
parent b8c22e1c99
commit 62b5f13dd8
2 changed files with 6 additions and 0 deletions
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1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -284,6 +284,7 @@ protected:
const QMap<int, Signature> & cachedSignatures() const { return _cachedSignatures;}
const std::map<int, Transform> & currentPosesMap() const { return _currentPosesMap; } // <nodeId, pose>
const std::map<int, Transform> & currentGTPosesMap() const { return _currentGTPosesMap; } // <nodeId, pose>
const std::map<int, Transform>& currentVisiblePosesMap() const; // <nodeId, pose>
const std::multimap<int, Link> & currentLinksMap() const { return _currentLinksMap; } // <nodeFromId, link>
const std::map<int, int> & currentMapIds() const { return _currentMapIds; } // <nodeId, mapId>
const std::map<int, std::string> & currentLabels() const { return _currentLabels; } // <nodeId, label>

5
guilib/src/MainWindow.cpp
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@@ -700,6 +700,11 @@ void MainWindow::setupMainLayout(bool vertical)
}
}
const std::map<int, Transform>& MainWindow::currentVisiblePosesMap() const
{
return _ui->widget_mapVisibility->getVisiblePoses();
}
void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
{
UASSERT(cloudViewer);