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Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.

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This commit is contained in:
matlabbe
2016-05-20 11:44:50 -04:00
parent b29ce28877
commit 9f6af75f79
11 changed files with 109 additions and 108 deletions
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38
guilib/src/CloudViewer.cpp
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@@ -172,7 +172,7 @@ void CloudViewer::clear()
this->removeAllClouds();
this->removeAllGraphs();
this->removeAllCoordinates();
this->removeAllArrows();
this->removeAllLines();
this->removeAllFrustums();
this->removeAllTexts();
this->clearTrajectory();
@@ -793,11 +793,12 @@ void CloudViewer::removeAllCoordinates()
UASSERT(_coordinates.empty());
}
void CloudViewer::addOrUpdateArrow(
void CloudViewer::addOrUpdateLine(
const std::string & id,
const Transform & from,
const Transform & to,
const QColor & color)
const QColor & color,
bool arrow)
{
if(id.empty())
{
@@ -805,11 +806,11 @@ void CloudViewer::addOrUpdateArrow(
return;
}
removeArrow(id);
removeLine(id);
if(!from.isNull() && !to.isNull())
{
_arrows.insert(id);
_lines.insert(id);
QColor c = Qt::gray;
if(color.isValid())
@@ -820,11 +821,18 @@ void CloudViewer::addOrUpdateArrow(
pcl::PointXYZ pt1(from.x(), from.y(), from.z());
pcl::PointXYZ pt2(to.x(), to.y(), to.z());
_visualizer->addArrow(pt2, pt1, c.redF(), c.greenF(), c.blueF(), false, id);
if(arrow)
{
_visualizer->addArrow(pt2, pt1, c.redF(), c.greenF(), c.blueF(), false, id);
}
else
{
_visualizer->addLine(pt2, pt1, c.redF(), c.greenF(), c.blueF(), id);
}
}
}
void CloudViewer::removeArrow(const std::string & id)
void CloudViewer::removeLine(const std::string & id)
{
if(id.empty())
{
@@ -832,21 +840,21 @@ void CloudViewer::removeArrow(const std::string & id)
return;
}
if(_arrows.find(id) != _arrows.end())
if(_lines.find(id) != _lines.end())
{
_visualizer->removeShape(id);
_arrows.erase(id);
_lines.erase(id);
}
}
void CloudViewer::removeAllArrows()
void CloudViewer::removeAllLines()
{
std::set<std::string> arrows = _arrows;
std::set<std::string> arrows = _lines;
for(std::set<std::string>::iterator iter = arrows.begin(); iter!=arrows.end(); ++iter)
{
this->removeArrow(*iter);
this->removeLine(*iter);
}
UASSERT(_arrows.empty());
UASSERT(_lines.empty());
}
static const float frustum_vertices[] = {
@@ -1112,7 +1120,7 @@ void CloudViewer::setFrustumShown(bool shown)
if(!shown)
{
this->removeFrustum("reference_frustum");
this->removeArrow("reference_frustum_arrow");
this->removeLine("reference_frustum_line");
this->update();
}
_aShowFrustum->setChecked(shown);
@@ -1372,7 +1380,7 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose, const Trans
this->addOrUpdateFrustum("reference_frustum", pose * baseToCamera, _frustumScale, _frustumColor);
if(!baseToCamera.isIdentity())
{
this->addOrUpdateArrow("reference_frustum_arrow", pose, pose * baseToCamera, _frustumColor);
this->addOrUpdateLine("reference_frustum_line", pose, pose * baseToCamera, _frustumColor);
}
}