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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/src/DatabaseViewer.cpp
+12 -2
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@@ -914,13 +914,23 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
memory_->getImageDepth(ids_.at(i), imageBytes, depthBytes, depth2dBytes, fx, fy, cx, cy, localTransform);
if(depth2dBytes.size())
{
scans_.insert(ids_.at(i), depth2dBytes);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = rtabmap::util3d::uncompressData(depth2dBytes);
cloud = rtabmap::util3d::depth2DToPointCloud(depth2d);
scans_.insert(std::make_pair(ids_.at(i), cloud));
}
}
UINFO("Update scans list... done");
}
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
ui_->graphViewer->updateGraph(graph, links_, scans_);
ui_->graphViewer->updateGraph(graph, links_);
if(graph.size() && scans_.size())
{
float xMin, yMin;
float cell = 0.05;
cv::Mat map = rtabmap::util3d::convertMap2Image8U(rtabmap::util3d::create2DMap(graph, scans_, cell, true, xMin, yMin));
ui_->graphViewer->updateMap(map, cell, xMin, yMin);
}
ui_->label_iterations->setNum(value);
//compute total length (neighbor links)