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Moved some util3d methods to Transform.h, Graph.h and Compression.h

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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
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16
guilib/src/CloudViewer.cpp
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@@ -97,6 +97,8 @@ CloudViewer::CloudViewer(QWidget *parent) :
//setup menu/actions
createMenu();
setMouseTracking(false);
}
CloudViewer::~CloudViewer()
@@ -171,7 +173,7 @@ bool CloudViewer::updateCloudPose(
{
UDEBUG("Updating pose %s to %s", id.c_str(), pose.prettyPrint().c_str());
if(_addedClouds.find(id).value() == pose ||
_visualizer->updatePointCloudPose(id, util3d::transformToEigen3f(pose)))
_visualizer->updatePointCloudPose(id, pose.toEigen3f()))
{
_addedClouds.find(id).value() = pose;
return true;
@@ -254,7 +256,7 @@ bool CloudViewer::addCloud(
if(!_addedClouds.contains(id))
{
Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
Eigen::Quaternionf orientation = Eigen::Quaternionf(util3d::transformToEigen3f(pose).rotation());
Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().rotation());
// add random color channel
pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::Ptr colorHandler;
@@ -334,7 +336,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id))
{
_visualizer->updatePointCloudPose(id, util3d::transformToEigen3f(pose));
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
}
@@ -352,7 +354,7 @@ bool CloudViewer::addCloudMesh(
UDEBUG("Adding %s with %d polygons", id.c_str(), (int)mesh->polygons.size());
if(_visualizer->addPolygonMesh(*mesh, id))
{
_visualizer->updatePointCloudPose(id, util3d::transformToEigen3f(pose));
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
}
@@ -580,7 +582,7 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
{
if(!pose.isNull())
{
Eigen::Affine3f m = util3d::transformToEigen3f(pose);
Eigen::Affine3f m = pose.toEigen3f();
Eigen::Vector3f pos = m.translation();
Eigen::Vector3f lastPos(0,0,0);
@@ -1044,6 +1046,8 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
render();
emit configChanged();
}
else
{
@@ -1082,6 +1086,7 @@ void CloudViewer::mouseMoveEvent(QMouseEvent * event)
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
}
emit configChanged();
}
void CloudViewer::contextMenuEvent(QContextMenuEvent * event)
@@ -1090,6 +1095,7 @@ void CloudViewer::contextMenuEvent(QContextMenuEvent * event)
if(a)
{
handleAction(a);
emit configChanged();
}
}