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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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53
guilib/src/CloudViewer.cpp
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@@ -528,7 +528,8 @@ bool CloudViewer::addCloud(
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
bool hasNormals,
bool hasIntensity,
const QColor & color)
{
int previousColorIndex = -1;
@@ -541,7 +542,7 @@ bool CloudViewer::addCloud(
Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().linear());
if(haveNormals && _aShowNormals->isChecked())
if(hasNormals && _aShowNormals->isChecked())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2 (*binaryCloud, *cloud_xyz);
@@ -580,12 +581,18 @@ bool CloudViewer::addCloud(
colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
else if(hasIntensity)
{
//rgb
colorHandler.reset(new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2>(binaryCloud, "intensity"));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
else if(previousColorIndex == 5)
{
previousColorIndex = -1;
}
if(haveNormals)
if(hasNormals)
{
//normals
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
@@ -604,7 +611,7 @@ bool CloudViewer::addCloud(
{
_visualizer->updateColorHandlerIndex(id, previousColorIndex);
}
else if(rgb)
else if(rgb || hasIntensity)
{
_visualizer->updateColorHandlerIndex(id, 5);
}
@@ -627,7 +634,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, true, color);
return addCloud(id, binaryCloud, pose, true, true, false, color);
}
bool CloudViewer::addCloud(
@@ -638,7 +645,29 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, false, color);
return addCloud(id, binaryCloud, pose, true, false, false, color);
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, true, true, color);
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, false, true, color);
}
bool CloudViewer::addCloud(
@@ -649,7 +678,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, true, color);
return addCloud(id, binaryCloud, pose, false, true, false, color);
}
bool CloudViewer::addCloud(
@@ -660,7 +689,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, false, color);
return addCloud(id, binaryCloud, pose, false, false, false, color);
}
bool CloudViewer::addCloudMesh(
@@ -2132,6 +2161,14 @@ bool CloudViewer::getCloudVisibility(const std::string & id)
return false;
}
void CloudViewer::setCloudColorIndex(const std::string & id, int index)
{
if(index>0)
{
_visualizer->updateColorHandlerIndex(id, index-1);
}
}
void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
{
double lastOpacity;