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Save/view high-res point clouds depending on the visible clouds in Map view (only those checked in MapVisibility view)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-23 20:43:08 +00:00
parent e9ae29f909
commit 7b0a34b150
13 changed files with 310 additions and 215 deletions
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6
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -106,8 +106,10 @@ public:
const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
void setCameraTargetLocked();
void setCameraTargetFollow();
void setCameraTargetLocked(bool enabled = true);
void setCameraTargetFollow(bool enabled = true);
void setCameraFree();
void setCameraLockZ(bool enabled = true);
public slots:
void render();

2
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -92,7 +92,7 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::map<int, rtabmap::Transform> poses_;
std::multimap<int, rtabmap::Link> links_;
std::map<int, std::vector<unsigned char> > scans_;
QMap<int, std::vector<unsigned char> > scans_;
};
#endif /* DATABASEVIEWER_H_ */

12
guilib/include/rtabmap/gui/MainWindow.h
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@@ -176,6 +176,8 @@ signals:
private:
void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose);
void createAndAddCloudToMap(int nodeId, const Transform & pose);
void createAndAddScanToMap(int nodeId, const Transform & pose);
std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & poses) const;
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
@@ -183,7 +185,7 @@ private:
void updateSelectSourceDatabase(bool used);
void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud(const std::map<int, Transform> & poses) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
int id,
const cv::Mat & rgb,
@@ -193,9 +195,9 @@ private:
const Transform & pose,
float voxelSize,
int decimation,
float maxDepth);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds();
std::map<int, pcl::PolygonMesh::Ptr> createMeshes();
float maxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(const std::map<int, Transform> & poses) const;
std::map<int, pcl::PolygonMesh::Ptr> createMeshes(const std::map<int, Transform> & poses) const;
void savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes);
@@ -222,7 +224,7 @@ private:
QMap<int, std::vector<unsigned char> > _imagesMap;
QMap<int, std::vector<unsigned char> > _depthsMap;
std::map<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, float> _depthConstantsMap;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;