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DBViewer: compute normals when showing clouds

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matlabbe
2017-02-06 17:05:53 -05:00
parent 3a9b725c0c
commit 9a2c9f607f
1 changed files with 20 additions and 3 deletions
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23
guilib/src/DatabaseViewer.cpp
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@@ -1761,6 +1761,7 @@ void DatabaseViewer::view3DMap()
window->show(); window->show();
int oi=0;
for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{ {
rtabmap::Transform pose = iter->second; rtabmap::Transform pose = iter->second;
@@ -1772,10 +1773,16 @@ void DatabaseViewer::view3DMap()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1); UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1); UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, 0, ui_->parameters_toolbox->getParameters()); pcl::IndicesPtr indices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, indices.get(), ui_->parameters_toolbox->getParameters());
oi++;
if(cloud->size()) if(cloud->size())
{ {
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
QColor color = Qt::red; QColor color = Qt::red;
int mapId, weight; int mapId, weight;
Transform odomPose, groundTruth; Transform odomPose, groundTruth;
@@ -1786,10 +1793,20 @@ void DatabaseViewer::view3DMap()
color = (Qt::GlobalColor)(mapId % 12 + 7 ); color = (Qt::GlobalColor)(mapId % 12 + 7 );
} }
viewer->addCloud(uFormat("cloud%d", iter->first), cloud, pose, color); viewer->addCloud(uFormat("cloud%d", iter->first), cloudWithNormals, pose, color);
UINFO("Generated %d (%d points)", iter->first, cloud->size()); UINFO("Generated %d (%d points)", iter->first, cloud->size());
progressDialog.appendText(QString("Generated %1 (%2 points)").arg(iter->first).arg(cloud->size())); if(optimizedPoses.size() > 150)
{
if(oi%50==0)
{
progressDialog.appendText(QString("Generated %1/%2").arg(oi).arg(optimizedPoses.size()));
}
}
else
{
progressDialog.appendText(QString("Generated %1 (%2 points)").arg(iter->first).arg(cloud->size()));
}
} }
else else
{ {