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Added visualization cloud filtering

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1077 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-13 21:32:46 +00:00
parent ea570abb8c
commit 8d863b21d5
10 changed files with 745 additions and 647 deletions
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6
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -122,8 +122,6 @@ protected:
private:
void createMenu();
bool frustumCulling(const pcl::PointXYZ & cloud);
pcl::IndicesPtr frustumCulling(const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
void mouseEventOccurred (const pcl::visualization::MouseEvent &event, void* viewer_void);
private:
@@ -137,14 +135,12 @@ private:
QAction * _aClearTrajectory;
QAction * _aShowGrid;
QAction * _aSetBackgroundColor;
QAction * _setFarPlaneDistance;
QMenu * _menu;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
QMap<std::string, Transform> _addedClouds; // include meshes
QMap<std::string, Transform> _addedClouds; // include cloud, scan, meshes
Transform _lastPose;
std::list<std::string> _gridLines;
float _farPlaneDistance;
QSet<Qt::Key> _keysPressed;
};

1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -170,6 +170,7 @@ signals:
private:
void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, 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);
void updateSelectSourceImageMenu(int type);

4
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -125,6 +125,10 @@ public:
double getScanOpacity(int index) const; // 0=map, 1=odom, 2=save
int getScanPointSize(int index) const; // 0=map, 1=odom, 2=save
bool isCloudFiltering() const;
double getCloudFilteringRadius() const;
double getCloudFilteringAngle() const;
QString getWorkingDirectory() const;
QString getDatabasePath() const;