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Added Octomap visualization and export options

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This commit is contained in:
matlabbe
2016-07-15 17:46:13 -04:00
parent c24079884d
commit b4b7b6f455
13 changed files with 737 additions and 397 deletions
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6
corelib/include/rtabmap/core/OctoMap.h
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Transform.h>
#include <map>
#include <string>
namespace rtabmap {
@@ -67,8 +68,9 @@ public:
const octomap::ColorOcTree * octree() const {return octree_;}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
unsigned int treeDepth = 0,
std::vector<int> * obstacleIndices = 0,
std::vector<int> * groundIndices = 0) const;
std::vector<int> * emptyIndices = 0) const;
cv::Mat createProjectionMap(
float & xMin,
@@ -76,6 +78,8 @@ public:
float & gridCellSize,
float minGridSize);
bool writeBinary(const std::string & path);
virtual ~OctoMap();
void clear();