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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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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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guilib/src/DatabaseViewer.cpp
+9
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@@ -3195,6 +3195,15 @@ void DatabaseViewer::update(int value,
}
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(data.laserScanRaw().hasIntensity() && data.laserScanRaw().hasNormals())
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr scan = util3d::laserScanToPointCloudINormal(data.laserScanRaw(), data.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(data.laserScanRaw().hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(data.laserScanRaw(), data.laserScanRaw().localTransform());