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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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8
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -130,6 +130,13 @@ public:
void updateCameraPosition(
const Transform & pose);
void addOrUpdateGraph(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & graph,
const QColor & color = Qt::gray);
void removeGraph(const std::string & id);
void removeAllGraphs();
void setTrajectoryShown(bool shown);
void setTrajectorySize(int value);
void clearTrajectory();
@@ -182,6 +189,7 @@ private:
QAction * _aShowGrid;
QAction * _aSetBackgroundColor;
QMenu * _menu;
std::map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr > _graphes;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
QMap<std::string, Transform> _addedClouds; // include cloud, scan, meshes