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-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.

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-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-29 21:48:37 +00:00
parent a81f5785a2
commit 69ad085f88
16 changed files with 517 additions and 249 deletions
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guilib/include/rtabmap/gui/MainWindow.h
+2 -1
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@@ -176,7 +176,7 @@ signals:
private:
void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints);
void createAndAddCloudToMap(int nodeId, const Transform & pose);
void createAndAddScanToMap(int nodeId, const Transform & pose);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -248,6 +248,7 @@ private:
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
QMap<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _lastOdometryProcessed;