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Added Map color overlay on 3D cloud (press key '2' on keyboard)

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Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-01 21:44:46 +00:00
parent 317d382a24
commit c441cc1d0f
10 changed files with 101 additions and 27 deletions
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guilib/src/CloudViewer.cpp
+15 -10
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@@ -209,11 +209,12 @@ bool CloudViewer::updateCloud(
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose))
{
return addCloud(id, cloud, pose);
return addCloud(id, cloud, pose, color);
}
return true;
}
@@ -221,11 +222,12 @@ bool CloudViewer::addOrUpdateCloud(
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose))
{
return addCloud(id, cloud, pose);
return addCloud(id, cloud, pose, color);
}
return true;
}
@@ -234,7 +236,8 @@ bool CloudViewer::addCloud(
const std::string & id,
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb)
bool rgb,
const QColor & color)
{
if(!_addedClouds.contains(id))
{
@@ -247,7 +250,7 @@ bool CloudViewer::addCloud(
if(_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id))
{
// white
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, 255, 255, 255));
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, color.red(), color.green(), color.blue()));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
// x,y,z
@@ -277,7 +280,8 @@ bool CloudViewer::addCloud(
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(!_addedClouds.contains(id))
{
@@ -285,7 +289,7 @@ bool CloudViewer::addCloud(
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true);
return addCloud(id, binaryCloud, pose, true, color);
}
return false;
}
@@ -293,7 +297,8 @@ bool CloudViewer::addCloud(
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose)
const Transform & pose,
const QColor & color)
{
if(!_addedClouds.contains(id))
{
@@ -301,7 +306,7 @@ bool CloudViewer::addCloud(
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false);
return addCloud(id, binaryCloud, pose, false, color);
}
return false;
}