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GUI: added option to show octomap as a point cloud (less GPU power required)

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matlabbe
2016-10-18 13:29:40 -04:00
parent 73268c2af2
commit 5a24bcfe51
5 changed files with 69 additions and 24 deletions
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guilib/src/MainWindow.cpp
+14 -1
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@@ -2387,6 +2387,7 @@ void MainWindow::updateMapCloud(
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
_cloudViewer->removeCloud("octomap_cloud");
if(_preferencesDialog->isOctomapUpdated())
{
UDEBUG("");
@@ -2398,7 +2399,19 @@ void MainWindow::updateMapCloud(
{
UDEBUG("");
UTimer time;
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
if(_preferencesDialog->isOctomapCubeRendering())
{
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
}
else
{
pcl::IndicesPtr obstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = _octomap->createCloud(_preferencesDialog->getOctomapTreeDepth(), obstacles.get());
if(obstacles->size())
{
_cloudViewer->addCloud("octomap_cloud", cloud);
}
}
UINFO("Octomap show 3d map time = %fs", time.ticks());
}
#endif