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CloudViewer: added occupancy grid support for PCL < 1.7.2

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matlabbe
2016-08-26 12:34:19 -04:00
parent 4e027a6515
commit 8d31b6140d
6 changed files with 430 additions and 35 deletions
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4
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -142,6 +142,10 @@ public:
bool addOctomap(const OctoMap * octomap, unsigned int treeDepth = 0, bool showEdges = true, bool lightingOn = false);
void removeOctomap();
bool addTextureMesh (
const pcl::TextureMesh &mesh,
const std::string &id = "texture",
int viewport = 0);
bool addOccupancyGridMap(
const cv::Mat & map8U,
float resolution, // cell size