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Matching map colors to path/cloud/scan

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matlabbe
2015-05-07 15:32:56 -04:00
parent 3642e2fbf1
commit dd7d28898b
3 changed files with 18 additions and 19 deletions
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guilib/src/CloudViewer.cpp
+9 -4
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@@ -552,7 +552,7 @@ void CloudViewer::addOrUpdateGraph(
if(graph->size())
{
_graphes.insert(std::make_pair(id, graph));
_graphes.insert(id);
pcl::PolygonMesh mesh;
pcl::Vertices vertices;
@@ -565,6 +565,9 @@ void CloudViewer::addOrUpdateGraph(
mesh.polygons.push_back(vertices);
_visualizer->addPolylineFromPolygonMesh(mesh, id);
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, color.redF(), color.greenF(), color.blueF(), id);
this->addOrUpdateCloud(id+"_nodes", graph, Transform::getIdentity(), color);
this->setCloudPointSize(id+"_nodes", 5);
}
}
@@ -580,16 +583,18 @@ void CloudViewer::removeGraph(const std::string & id)
{
_visualizer->removeShape(id);
_graphes.erase(id);
removeCloud(id+"_nodes");
}
}
void CloudViewer::removeAllGraphs()
{
for(std::map<std::string, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator iter = _graphes.begin(); iter!=_graphes.end(); ++iter)
std::set<std::string> graphes = _graphes;
for(std::set<std::string>::iterator iter = graphes.begin(); iter!=graphes.end(); ++iter)
{
_visualizer->removeShape(iter->first);
this->removeGraph(*iter);
}
_graphes.clear();
UASSERT(_graphes.empty());
}
bool CloudViewer::isTrajectoryShown() const