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-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.

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-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-29 21:48:37 +00:00
parent a81f5785a2
commit 69ad085f88
16 changed files with 517 additions and 249 deletions
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82
guilib/src/CloudViewer.cpp
View File

@@ -54,7 +54,8 @@ CloudViewer::CloudViewer(QWidget *parent) :
_menu(0),
_trajectory(new pcl::PointCloud<pcl::PointXYZ>),
_maxTrajectorySize(100),
_lastPose(Transform::getIdentity())
_lastPose(Transform::getIdentity()),
_workingDirectory(".")
{
this->setMinimumSize(200, 200);
@@ -322,6 +323,80 @@ bool CloudViewer::addCloudMesh(
return false;
}
bool CloudViewer::addOccupancyGridMap(
const cv::Mat & map8U,
float resolution, // cell size
float xMin,
float yMin,
float opacity)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
UASSERT(map8U.channels() == 1 && map8U.type() == CV_8U);
float xSize = float(map8U.cols) * resolution;
float ySize = float(map8U.rows) * resolution;
UDEBUG("resolution=%f, xSize=%f, ySize=%f, xMin=%f, yMin=%f", resolution, xSize, ySize, xMin, yMin);
if(_visualizer->getShapeActorMap()->find("map") == _visualizer->getShapeActorMap()->end())
{
_visualizer->removeShape("map");
}
if(xSize > 0.0f && ySize > 0.0f)
{
pcl::TextureMeshPtr mesh(new pcl::TextureMesh());
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.push_back(pcl::PointXYZ(xMin, yMin, 0));
cloud.push_back(pcl::PointXYZ(xSize+xMin, yMin, 0));
cloud.push_back(pcl::PointXYZ(xSize+xMin, ySize+yMin, 0));
cloud.push_back(pcl::PointXYZ(xMin, ySize+yMin, 0));
pcl::toPCLPointCloud2(cloud, mesh->cloud);
std::vector<pcl::Vertices> polygons(1);
polygons[0].vertices.push_back(0);
polygons[0].vertices.push_back(1);
polygons[0].vertices.push_back(2);
polygons[0].vertices.push_back(3);
polygons[0].vertices.push_back(0);
mesh->tex_polygons.push_back(polygons);
// default texture materials parameters
pcl::TexMaterial material;
// hack, can we read from memory?
std::string tmpPath = (_workingDirectory+"/.tmp_map.png").toStdString();
cv::imwrite(tmpPath, map8U);
material.tex_file = tmpPath;
mesh->tex_materials.push_back(material);
std::vector<Eigen::Vector2f> coordinates;
coordinates.push_back(Eigen::Vector2f(0,1));
coordinates.push_back(Eigen::Vector2f(1,1));
coordinates.push_back(Eigen::Vector2f(1,0));
coordinates.push_back(Eigen::Vector2f(0,0));
mesh->tex_coordinates.push_back(coordinates);
_visualizer->addTextureMesh(*mesh, "map");
_visualizer->getCloudActorMap()->find("map")->second.actor->GetProperty()->LightingOff();
setCloudOpacity("map", 0.7);
//removed tmp texture file
QFile::remove(tmpPath.c_str());
}
return true;
#else
// not implemented on lower version of PCL
return false;
#endif
}
void CloudViewer::removeOccupancyGridMap()
{
if(_visualizer->getShapeActorMap()->find("map") == _visualizer->getShapeActorMap()->end())
{
_visualizer->removeShape("map");
}
}
void CloudViewer::setTrajectoryShown(bool shown)
{
_aShowTrajectory->setChecked(shown);
@@ -448,8 +523,13 @@ void CloudViewer::updateCameraPosition(const Transform & pose)
cameras.front().view[2] = Fp[10];
}
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_visualizer->removeCoordinateSystem("reference", 0);
_visualizer->addCoordinateSystem(0.2, m, "reference", 0);
#else
_visualizer->removeCoordinateSystem(0);
_visualizer->addCoordinateSystem(0.2, m, 0);
#endif
_visualizer->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],