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merged master to velodyne

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This commit is contained in:
matlabbe
2015-11-26 13:37:37 -05:00
parent 7d521819f0 ee81bfc1d7
commit ba6733411a
3 changed files with 18 additions and 8 deletions
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19
guilib/src/MainWindow.cpp
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@@ -773,6 +773,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
if(_ui->dockWidget_cloudViewer->isVisible())
{
bool cloudUpdated = false;
bool scanUpdated = false;
if(!pose.isNull())
{
// 3d cloud
@@ -798,11 +800,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", true);
_ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
_ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
}
else
{
UWARN("Empty cloudOdom!");
_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
cloudUpdated = true;
}
}
@@ -827,8 +826,18 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->widget_cloudViewer->setCloudVisibility("scanOdom", true);
_ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
scanUpdated = true;
}
}
if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
}
if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
}
}
if(!odom.pose().isNull())