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CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly)

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This commit is contained in:
matlabbe
2017-01-30 21:23:56 -05:00
parent 31d8ae08c8
commit f61569622a
8 changed files with 285 additions and 342 deletions
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7
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -134,16 +134,20 @@ public:
const pcl::PolygonMesh::Ptr & mesh,
const Transform & pose = Transform::getIdentity());
// Only one texture per mesh is supported!
bool addCloudTextureMesh(
const std::string & id,
const pcl::TextureMesh::Ptr & textureMesh,
const cv::Mat & texture,
const Transform & pose = Transform::getIdentity());
bool addOctomap(const OctoMap * octomap, unsigned int treeDepth = 0);
void removeOctomap();
// Only one texture per mesh is supported!
bool addTextureMesh (
const pcl::TextureMesh &mesh,
const cv::Mat & texture,
const std::string &id = "texture",
int viewport = 0);
bool addOccupancyGridMap(
@@ -269,8 +273,6 @@ public:
void setGridCellCount(unsigned int count);
void setGridCellSize(float size);
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
public slots:
void setDefaultBackgroundColor(const QColor & color);
void setBackgroundColor(const QColor & color);
@@ -335,7 +337,6 @@ private:
Transform _lastPose;
std::list<std::string> _gridLines;
QSet<Qt::Key> _keysPressed;
QString _workingDirectory;
QColor _defaultBgColor;
QColor _currentBgColor;
bool _frontfaceCulling;