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Added option to show graphs in the 3D map view. (See "General Settings->3D rendering->Show Graphs" default true)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1943 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-30 19:38:58 +00:00
parent 9358234e44
commit f12fc93639
9 changed files with 243 additions and 106 deletions
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4
corelib/src/Rtabmap.cpp
View File

@@ -2145,9 +2145,7 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
for(std::set<int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
{
UDEBUG("");
Signature data = _memory->getSignatureData(*iter);
UDEBUG("");
if(data.id() != Memory::kIdInvalid)
{
signatures.insert(std::make_pair(*iter, Signature())).first->second = data;
@@ -2155,7 +2153,7 @@ void Rtabmap::get3DMap(std::map<int, Signature> & signatures,
}
}
}
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size()))
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))
{
UERROR("Last working signature is null!?");
}

4
corelib/src/util3d.cpp
View File

@@ -2889,13 +2889,13 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
float & xMin,
float & yMin)
{
UDEBUG("");
UDEBUG("poses=%d, scans = %d", poses.size(), scans.size());
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > localScans;
pcl::PointCloud<pcl::PointXYZ> minMax;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{
if(uContains(scans, iter->first) && scans.size())
if(uContains(scans, iter->first) && scans.at(iter->first)->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = transformPointCloud<pcl::PointXYZ>(scans.at(iter->first), iter->second);
pcl::PointXYZ min, max;