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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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27
guilib/src/GraphViewer.cpp
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@@ -132,7 +132,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_neighborColor(Qt::blue),
_loopClosureColor(Qt::red),
_root(0),
_nodeRadius(0.1),
_nodeRadius(0.01),
_linkWidth(0),
_gridMap(0),
_gridCellSize(0.05f)
@@ -167,7 +167,7 @@ GraphViewer::~GraphViewer()
void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, std::vector<unsigned char> > & scans)
const QMap<int, std::vector<unsigned char> > & scans)
{
//Hide nodes and links
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
@@ -191,9 +191,9 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(itemIter != _nodeItems.end())
{
itemIter.value()->setPose(iter->second);
if(itemIter.value()->getScan().empty() && uContains(scans, iter->first))
if(itemIter.value()->getScan().empty() && scans.contains(iter->first))
{
cv::Mat depth2d = util3d::uncompressData(scans.at(iter->first));
cv::Mat depth2d = util3d::uncompressData(scans.value(iter->first));
itemIter.value()->setScan(depth2d);
}
if(!itemIter.value()->getScan().empty() && _gridMap->isVisible())
@@ -205,11 +205,11 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
else
{
// create node item
std::map<int, std::vector<unsigned char> >::const_iterator jter = scans.find(iter->first);
QMap<int, std::vector<unsigned char> >::const_iterator jter = scans.find(iter->first);
cv::Mat depth2d;
if(jter != scans.end())
{
depth2d = util3d::uncompressData(jter->second);
depth2d = util3d::uncompressData(jter.value());
if(_gridMap->isVisible())
{
scanClouds.insert(std::make_pair(iter->first, util3d::depth2DToPointCloud(depth2d)));
@@ -319,19 +319,20 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
for (int j = 0; j < map8S.cols; ++j)
{
unsigned char gray = map8S.at<unsigned char>(i, j);
if(gray == -1)
{
gray = 89;
}
else if(gray == 0)
char v = map8S.at<char>(i, j);
unsigned char gray;
if(v == 0)
{
gray = 178;
}
else if(gray == 100)
else if(v == 100)
{
gray = 0;
}
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray;
}
}