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CloudViewer: added occupancy grid support for PCL < 1.7.2

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matlabbe
2016-08-31 12:43:54 -04:00
parent 4e027a6515
commit 8d31b6140d
6 changed files with 430 additions and 35 deletions
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guilib/src/DatabaseViewer.cpp
+21 -6
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@@ -595,12 +595,24 @@ bool DatabaseViewer::openDatabase(const QString & path)
iter->second.compare(jter->second) != 0 &&
iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
{
differentParameters.insert(*iter);
QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
.arg(iter->first.c_str())
.arg(iter->second.c_str())
.arg(jter->second.c_str());
UWARN(msg.toStdString().c_str());
bool different = true;
if(Parameters::getType(iter->first).compare("double") ==0 ||
Parameters::getType(iter->first).compare("float") == 0)
{
if(uStr2Double(iter->second) == uStr2Double(jter->second))
{
different = false;
}
}
if(different)
{
differentParameters.insert(*iter);
QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
.arg(iter->first.c_str())
.arg(iter->second.c_str())
.arg(jter->second.c_str());
UWARN(msg.toStdString().c_str());
}
}
}
@@ -615,10 +627,13 @@ bool DatabaseViewer::openDatabase(const QString & path)
QMessageBox::Yes);
if(r == QMessageBox::Yes)
{
QStringList str;
for(rtabmap::ParametersMap::const_iterator iter = differentParameters.begin(); iter!=differentParameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
str.push_back(iter->first.c_str());
}
notifyParametersChanged(str);
}
}
}