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3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.

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matlabbe
2017-02-09 18:32:44 -05:00
parent e4629cc740
commit 0d0577a886
10 changed files with 1324 additions and 1048 deletions
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guilib/include/rtabmap/gui/CloudViewer.h
+4 -2
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@@ -196,13 +196,15 @@ public:
void addOrUpdateFrustum(
const std::string & id,
const Transform & transform,
const Transform & localTransform,
double scale,
const QColor & color = QColor());
bool updateFrustumPose(
const std::string & id,
const Transform & pose);
void removeFrustum(const std::string & id);
void removeAllFrustums();
void removeAllFrustums(bool exceptCameraReference = false);
const QMap<std::string, Transform> & getAddedFrustums() const {return _frustums;}
void addOrUpdateGraph(
const std::string & id,
@@ -327,7 +329,7 @@ private:
std::set<std::string> _coordinates;
std::set<std::string> _texts;
std::set<std::string> _lines;
std::set<std::string> _frustums;
QMap<std::string, Transform> _frustums;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
float _frustumScale;