i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-10 19:49:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used

Browse Source
This commit is contained in:
matlabbe
2015-11-22 18:08:32 -05:00
parent 1e5bcfded8
commit ae9f21acd7
46 changed files with 4934 additions and 4547 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/CloudViewer.cpp
+17
View File
@@ -518,6 +518,23 @@ bool CloudViewer::addCloud(
return false;
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(!_addedClouds.contains(id))
{
UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, true, color);
}
return false;
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,