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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/MainWindow.h
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@@ -296,6 +296,7 @@ private:
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _cachedClouds;
long _createdCloudsMemoryUsage;
std::set<int> _cachedEmptyClouds;
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, cv::Mat> _createdScans;