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Camera test view: show intensity/rgb/normals if input scans have them

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matlabbe
2021-01-25 17:16:46 -05:00
parent 7e298e1999
commit 6b119c1f90
2 changed files with 28 additions and 2 deletions
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28
guilib/src/CameraViewer.cpp
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@@ -147,7 +147,33 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
showScanCheckbox_->setEnabled(true);
if(showScanCheckbox_->isChecked())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloud(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
if(data.laserScanRaw().hasNormals())
{
if(data.laserScanRaw().hasIntensity())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloudINormal(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
else if(data.laserScanRaw().hasRGB())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloudRGBNormal(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
else
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloudNormal(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
}
else if(data.laserScanRaw().hasIntensity())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloudI(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
else if(data.laserScanRaw().hasRGB())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloudRGB(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
else
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloud(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
}
}