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Added optimizeFromGraphEnd (default true) parameter. It can be used to keep the map referential from the oldest node in the current graph

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1441 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-25 23:00:35 +00:00
parent bb3c8afd45
commit f34907f92f
9 changed files with 171 additions and 88 deletions
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76
guilib/src/CloudViewer.cpp
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@@ -557,6 +557,55 @@ void CloudViewer::setCameraLockZ(bool enabled)
_aLockViewZ->setChecked(enabled);
}
void CloudViewer::setGridShown(bool shown)
{
_aShowGrid->setChecked(shown);
if(shown)
{
this->addGrid();
}
else
{
this->removeGrid();
}
}
void CloudViewer::addGrid()
{
if(_gridLines.empty())
{
float cellSize = 1.0f;
int cellCount = 50;
double r=0.5;
double g=0.5;
double b=0.5;
int id = 0;
float min = -float(cellCount/2) * cellSize;
float max = float(cellCount/2) * cellSize;
std::string name;
for(float i=min; i<=max; i += cellSize)
{
//over x
name = uFormat("line%d", ++id);
_visualizer->addLine(pcl::PointXYZ(i, min, 0.0f), pcl::PointXYZ(i, max, 0.0f), r, g, b, name);
_gridLines.push_back(name);
//over y
name = uFormat("line%d", ++id);
_visualizer->addLine(pcl::PointXYZ(min, i, 0.0f), pcl::PointXYZ(max, i, 0.0f), r, g, b, name);
_gridLines.push_back(name);
}
}
}
void CloudViewer::removeGrid()
{
for(std::list<std::string>::iterator iter = _gridLines.begin(); iter!=_gridLines.end(); ++iter)
{
_visualizer->removeShape(*iter);
}
_gridLines.clear();
}
Eigen::Vector3f rotatePointAroundAxe(
const Eigen::Vector3f & point,
const Eigen::Vector3f & axis,
@@ -742,34 +791,11 @@ void CloudViewer::handleAction(QAction * a)
{
if(_aShowGrid->isChecked())
{
float cellSize = 1.0f;
int cellCount = 50;
double r=0.5;
double g=0.5;
double b=0.5;
int id = 0;
float min = -float(cellCount/2) * cellSize;
float max = float(cellCount/2) * cellSize;
std::string name;
for(float i=min; i<=max; i += cellSize)
{
//over x
name = uFormat("line%d", ++id);
_visualizer->addLine(pcl::PointXYZ(i, min, 0.0f), pcl::PointXYZ(i, max, 0.0f), r, g, b, name);
_gridLines.push_back(name);
//over y
name = uFormat("line%d", ++id);
_visualizer->addLine(pcl::PointXYZ(min, i, 0.0f), pcl::PointXYZ(max, i, 0.0f), r, g, b, name);
_gridLines.push_back(name);
}
this->addGrid();
}
else
{
for(std::list<std::string>::iterator iter = _gridLines.begin(); iter!=_gridLines.end(); ++iter)
{
_visualizer->removeShape(*iter);
}
_gridLines.clear();
this->removeGrid();
}
this->render();