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CloudViewer: Added Frustum visualization

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This commit is contained in:
matlabbe
2016-03-12 17:09:01 -05:00
parent 6c15cb8b25
commit a2e6811645
3 changed files with 264 additions and 9 deletions
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26
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -148,9 +148,23 @@ public:
const std::string & id,
const Transform & transform,
double scale);
bool updateCoordinatePose(
const std::string & id,
const Transform & transform);
void removeCoordinate(const std::string & id);
void removeAllCoordinates();
void addOrUpdateFrustum(
const std::string & id,
const Transform & transform,
double scale,
const QColor & color = QColor());
bool updateFrustumPose(
const std::string & id,
const Transform & pose);
void removeFrustum(const std::string & id);
void removeAllFrustums();
void addOrUpdateGraph(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & graph,
@@ -172,6 +186,12 @@ public:
void setTrajectoryShown(bool shown);
void setTrajectorySize(unsigned int value);
void clearTrajectory();
bool isFrustumShown() const;
float getFrustumScale() const;
QColor getFrustumColor() const;
void setFrustumShown(bool shown);
void setFrustumScale(float value);
void setFrustumColor(QColor value);
void resetCamera();
void removeAllClouds(); //including meshes
@@ -248,6 +268,9 @@ private:
QAction * _aShowTrajectory;
QAction * _aSetTrajectorySize;
QAction * _aClearTrajectory;
QAction * _aShowFrustum;
QAction * _aSetFrustumScale;
QAction * _aSetFrustumColor;
QAction * _aShowGrid;
QAction * _aSetGridCellCount;
QAction * _aSetGridCellSize;
@@ -256,8 +279,11 @@ private:
std::set<std::string> _graphes;
std::set<std::string> _coordinates;
std::set<std::string> _texts;
std::set<std::string> _frustums;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
float _frustumScale;
QColor _frustumColor;
unsigned int _gridCellCount;
float _gridCellSize;
cv::Vec3d _lastCameraOrientation;