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DatabaseViewer: added occupancy grid to 3D view

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matlabbe
2016-08-26 13:02:00 -04:00
parent 8d31b6140d
commit e93ef025a1
1 changed files with 33 additions and 1 deletions
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34
guilib/src/DatabaseViewer.cpp
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@@ -2426,6 +2426,9 @@ void DatabaseViewer::update(int value,
!data.laserScanRaw().empty())) !data.laserScanRaw().empty()))
{ {
view3D->removeAllFrustums(); view3D->removeAllFrustums();
view3D->removeCloud("0");
view3D->removeCloud("1");
view3D->removeCloud("map");
if(!data.depthOrRightRaw().empty()) if(!data.depthOrRightRaw().empty())
{ {
if(!data.imageRaw().empty()) if(!data.imageRaw().empty())
@@ -2475,7 +2478,6 @@ void DatabaseViewer::update(int value,
ui_->checkBox_mesh_quad->isChecked(), ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(), ui_->spinBox_mesh_triangleSize->value(),
viewpoint); viewpoint);
view3D->removeCloud("0");
view3D->addCloudMesh("0", cloud, polygons); view3D->addCloudMesh("0", cloud, polygons);
} }
else else
@@ -2504,6 +2506,35 @@ void DatabaseViewer::update(int value,
view3D->addCloud("1", scan); view3D->addCloud("1", scan);
} }
//add occupancy grid
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
if(generatedLocalMaps_.find(data.id()) != generatedLocalMaps_.end())
{
localMaps.insert(*generatedLocalMaps_.find(data.id()));
}
else if(!data.gridGroundCellsRaw().empty() && !data.gridObstacleCellsRaw().empty())
{
localMaps.insert(std::make_pair(data.id(), std::make_pair(data.gridGroundCellsRaw(), data.gridObstacleCellsRaw())));
}
if(!localMaps.empty())
{
std::map<int, Transform> poses;
poses.insert(std::make_pair(data.id(), Transform::getIdentity()));
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
if(!map8S.empty())
{
//convert to gray scaled map
cv::Mat map8U = util3d::convertMap2Image8U(map8S);
view3D->addOccupancyGridMap(map8U, ui_->doubleSpinBox_gridCellSize->value(), xMin, yMin, 1);
}
}
view3D->update(); view3D->update();
} }
} }
@@ -3809,6 +3840,7 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid() void DatabaseViewer::updateGrid()
{ {
update3dView();
updateGraphView(); updateGraphView();
} }