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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans

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This commit is contained in:
matlabbe
2018-02-17 09:46:08 -05:00
parent 077b3ab59e
commit d181bedbfc
11 changed files with 615 additions and 227 deletions
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16
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -85,7 +85,8 @@ public:
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
bool hasNormals,
bool hasIntensity,
const QColor & color = QColor());
bool addCloud(
@@ -100,6 +101,18 @@ public:
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
@@ -287,6 +300,7 @@ public slots:
void setDefaultBackgroundColor(const QColor & color);
void setBackgroundColor(const QColor & color);
void setCloudVisibility(const std::string & id, bool isVisible);
void setCloudColorIndex(const std::string & id, int index);
void setCloudOpacity(const std::string & id, double opacity = 1.0);
void setCloudPointSize(const std::string & id, int size);
virtual void clear();

8
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -181,12 +181,16 @@ public:
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudMinDepth(int index) const; // 0=map, 1=odom
std::vector<float> getCloudRoiRatios(int index) const; // 0=map, 1=odom
int getCloudColorScheme(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
int getCloudPointSize(int index) const; // 0=map, 1=odom
bool isScansShown(int index) const; // 0=map, 1=odom
int getDownsamplingStepScan(int index) const; // 0=map, 1=odom
double getScanMaxRange(int index) const; // 0=map, 1=odom
double getScanMinRange(int index) const; // 0=map, 1=odom
double getCloudVoxelSizeScan(int index) const; // 0=map, 1=odom
int getScanColorScheme(int index) const; // 0=map, 1=odom
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
@@ -390,11 +394,15 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
QVector<QLineEdit*> _3dRenderingRoiRatios;
QVector<QSpinBox*> _3dRenderingColorScheme;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;
QVector<QCheckBox*> _3dRenderingShowScans;
QVector<QSpinBox*> _3dRenderingDownsamplingScan;
QVector<QDoubleSpinBox*> _3dRenderingMaxRange;
QVector<QDoubleSpinBox*> _3dRenderingMinRange;
QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
QVector<QSpinBox*> _3dRenderingColorSchemeScan;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;