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dbviewer: removed voxel filtering from scan display

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This commit is contained in:
matlabbe
2018-02-21 08:38:35 -05:00
parent db1139e89e
commit e8f7746c87
1 changed files with 1 additions and 41 deletions
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42
guilib/src/DatabaseViewer.cpp
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@@ -3201,46 +3201,26 @@ void DatabaseViewer::update(int value,
if(data.laserScanRaw().hasRGB() && data.laserScanRaw().hasNormals())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr scan = util3d::laserScanToPointCloudRGBNormal(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().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());
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().hasRGB())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr scan = util3d::laserScanToPointCloudRGB(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
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(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);
}
}
@@ -4296,7 +4276,7 @@ void DatabaseViewer::updateConstraintView(
data.uncompressDataConst(0, 0, &scan, 0);
if(!scan.isEmpty())
{
if(scan.hasNormals() && ui_->doubleSpinBox_voxelSize->value() == 0.0)
if(scan.hasNormals())
{
*assembledNormalScans += *util3d::laserScanToPointCloudNormal(scan, iter->second*scan.localTransform());
}
@@ -4316,10 +4296,6 @@ void DatabaseViewer::updateConstraintView(
}
if(assembledScans->size())
{
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
assembledScans = util3d::voxelize(assembledScans, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan2", assembledScans, pose, Qt::cyan);
constraintsViewer_->setCloudColorIndex("scan2", 2);
}
@@ -4340,10 +4316,6 @@ void DatabaseViewer::updateConstraintView(
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
constraintsViewer_->setCloudColorIndex("scan0", 2);
}
@@ -4351,10 +4323,6 @@ void DatabaseViewer::updateConstraintView(
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
constraintsViewer_->setCloudColorIndex("scan0", 2);
}
@@ -4365,10 +4333,6 @@ void DatabaseViewer::updateConstraintView(
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
constraintsViewer_->setCloudColorIndex("scan1", 2);
}
@@ -4376,10 +4340,6 @@ void DatabaseViewer::updateConstraintView(
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
constraintsViewer_->setCloudColorIndex("scan1", 2);
}