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Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool.

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This commit is contained in:
matlabbe
2018-04-13 18:19:13 -04:00
parent 57a62dbbfd
commit a82261a4df
5 changed files with 517 additions and 125 deletions
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31
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -60,6 +60,8 @@ namespace pcl {
class QMenu;
class vtkProp;
template <typename T> class vtkSmartPointer;
class vtkOBBTree;
namespace rtabmap {
@@ -190,21 +192,35 @@ public:
void addOrUpdateCoordinate(
const std::string & id,
const Transform & transform,
double scale);
double scale,
bool foreground=false);
bool updateCoordinatePose(
const std::string & id,
const Transform & transform);
void removeCoordinate(const std::string & id);
void removeAllCoordinates();
const std::set<std::string> & getAddedCoordinates() const {return _coordinates;}
void addOrUpdateLine(
const std::string & id,
const Transform & from,
const Transform & to,
const QColor & color,
bool arrow = false);
bool arrow = false,
bool foreground = false);
void removeLine(const std::string & id);
void removeAllLines();
const std::set<std::string> & getAddedLines() const {return _lines;}
void addOrUpdateSphere(
const std::string & id,
const Transform & pose,
float radius,
const QColor & color,
bool foreground = false);
void removeSphere(const std::string & id);
void removeAllSpheres();
const std::set<std::string> & getAddedSpheres() const {return _spheres;}
void addOrUpdateFrustum(
const std::string & id,
@@ -231,9 +247,11 @@ public:
const std::string & text,
const Transform & position,
double scale,
const QColor & color);
const QColor & color,
bool foreground = true);
void removeText(const std::string & id);
void removeAllTexts();
const std::set<std::string> & getAddedTexts() const {return _texts;}
bool isTrajectoryShown() const;
unsigned int getTrajectorySize() const;
@@ -260,6 +278,7 @@ public:
Transform getTargetPose() const;
void setBackfaceCulling(bool enabled, bool frontfaceCulling);
void setPolygonPicking(bool enabled);
void setRenderingRate(double rate);
void setLighting(bool on);
void setShading(bool on);
@@ -295,6 +314,8 @@ public:
float getNormalsScale() const;
void setNormalsStep(int step);
void setNormalsScale(float scale);
void buildLocator(bool enable);
const std::map<std::string, vtkSmartPointer<vtkOBBTree> > & getLocators() const {return _locators;}
public slots:
void setDefaultBackgroundColor(const QColor & color);
@@ -348,11 +369,13 @@ private:
QAction * _aSetFlatShading;
QAction * _aSetEdgeVisibility;
QAction * _aBackfaceCulling;
QAction * _aPolygonPicking;
QMenu * _menu;
std::set<std::string> _graphes;
std::set<std::string> _coordinates;
std::set<std::string> _texts;
std::set<std::string> _lines;
std::set<std::string> _spheres;
QMap<std::string, Transform> _frustums;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
@@ -362,6 +385,8 @@ private:
float _gridCellSize;
int _normalsStep;
float _normalsScale;
bool _buildLocator;
std::map<std::string, vtkSmartPointer<vtkOBBTree> > _locators;
cv::Vec3d _lastCameraOrientation;
cv::Vec3d _lastCameraPose;
QMap<std::string, Transform> _addedClouds; // include cloud, scan, meshes